Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment

摘要

For lower limb rehabilitation robots, different patients or patients in different rehabilitation stages have different motion abilities, and the parameters of the traditional impedance control model are fixed and cannot achieve the best active suppleness training effect. In this paper, an active training control method based on the spring damping model (SDM) and the fuzzy adaptive adjustment of its parameters is proposed. The SDM offsets the target trajectory according to the patient interaction force to obtain a new desired trajectory, creating a controllable impedance environment for the patient. Fuzzy rules are established using coefficients reflecting the patient’s motion ability to adaptively adjust the stiffness and damping coefficients of the SDM. The virtual human–machine force interaction environment is changed to achieve the adaptive adjustment of the resistance training difficulty on the motion ability. The adaptive impedance control method proposed in this paper has achieved the expected goal through experimental verification, which can greatly mobilize the active participation of patients and help improve the rehabilitation effect of patients.