Adaptive velocity field control of upper-limb rehabilitation robot

摘要

Upper limb rehabilitation robot is used to assist in completing rehabilitation training for patients with upper limb disorder. It is inevitable that the control system is probably disrupted by the patients in the process of rehabilitation training so that the movement of the rehabilitation robot is not smooth. This problem is not conductive to rehabilitation. In view of the contour tracking method with smooth approximation properties, the velocity field control is proposed in this paper to solve the problem. Contour following tasks can be effectively encoded through the use of desired velocity fields. The parameter adaptive method is proposed in this paper to improve the robustness of the control system and meet the needs of different patients for rehabilitation training. The anti-interference ability and adaptive ability are enhanced by the velocity field control and parameter adaptive method. Analysis and simulation result shows that this control strategy can adapt to different patients and has good robustness and stability.