Research on Stiffness Adaptive Admittance Control for Wheelchair Robotic Arms Based on Fuzzy Control

摘要

In the field of assistive robotics, there is a growing demand for the care of the elderly and people with disabilities, requiring robotic systems to be not only safe and reliable but also highly adaptable and flexible. To address this challenge, this study introduces a variable stiffness admittance control strategy that integrates fuzzy control with admittance control, applied to wheelchair-mounted robotic arms. This strategy dynamically adjusts stiffness parameters improve the arm's adaptability and safety during human-robot interaction. The effectiveness of this method has been validated through a series of experiments. The experimental results show that this control strategy improves both safety and adaptability, making it highly suitable for assistive robotics applications. Particularly, the incorporation of fuzzy control elements allows the robotic arm to more finely adapt to the needs of different users. This research provides significant theoretical and practical foundations for developing intuitive and user-friendly assistive robotic systems, with the potential to offer better care services for the elderly and people with disabilities.