Fuzzy Impedance Control of Upper Limb Rehabilitation Robot*

Abstract

Aiming at the problem of human-computer interaction in the rehabilitation process of upper limb rehabilitation robots, a flexible surface pressure sensor was used to detect the human-computer contact force, and a position-based fuzzy impedance controller was used to adjust the human-computer interaction force. A dynamic model of the upper limb rehabilitation robot was established, a fuzzy impedance controller was designed, and a position-based fuzzy impedance control result was simulated. The experiment proves that the position-based fuzzy impedance control can ensure that the rehabilitation robot has good compliance, which not only ensures the safety of rehabilitation training, but also the effect of rehabilitation training.