Study on control strategy of active rehabilitation training for upper limb rehabilitation robots

doi:10.7523/j.issn.2095-6134.2019.04.018

Abstract

Abstract: In recent years, the upper limb injuries increased year by year due to the stroke and traffic accidents, which caused the demanding for rehabilitation equipment. In order to meet the actual needs, we developed a four-degrees-of-freedom robot which is driven by pneumatic actuator muscle (shoulder joint adduction/in show (passive), precursor/reach, elbow flexion, and wrist flexion). First, the structure of upper limb rehabilitation robot was designed, and pneumatic artificial muscle was used as the driver of elbow joint and wrist joint. Then, for the upper limb rehabilitation robot designed in this studg, two kinds of control under active rehabilitation training were designed. Finally, the effectiveness of the control strategy is verified through the wear tests, which shows the practical value of the rehabilitation robot.

Key words: rehabilitation robot, pneumatic artificial muscle, direct force control, impedance control

CLC Number:

TP24

LIU Peng, GE Xiaoqing, LI Yu, ZHAO Jiaxin. Study on control strategy of active rehabilitation training for upper limb rehabilitation robots[J]. , 2019, 36(4): 570-576.

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