Research on the Control Strategy of Active Upper Limb Rehabilitation Robot Based on Force Feedback

摘要

Aiming at the current wide application of robots in the rehabilitation field, in order to enhance the assisted rehabilitation effect of upper limb hemiplegic patients during the rehabilitation period and improve the assisted effect for patients' rehabilitation, for patients in different recovery periods, this paper proposes an active upper limb rehabilitation robot control method based on force feedback and modifies the impedance parameters by designing a regulation controller to achieve a better assisted effect. Based on the impedance control theory, an emerging regulation controller is designed and tested by changing the damping and stiffness parameters of the robot, and through extensive experimental comparisons, set robot parameters that better match the patient during each step of rehabilitation. Improve the active participation of the patient by setting different parameters. In this paper, simulation experiments were conducted for different impedance parameters, and the impedance parameters of the robot were changed through the design of the modulation controller, The robot motion with different parameter settings was also simulated and analyzed. Finally, by analyzing the robot motion curves under different conditions, it was concluded that larger stiffness parameters are suitable for patients with more severe conditions and larger damping parameters are suitable for patients with good recovery