Interactive Control for the Arm Rehabilitation Robot

摘要

In this paper the trajectory tracking control of the arm rehabilitation robot for stroke patients is investigated by an interactive robust control approach. The functions of patients' voluntary joint torques are designed depending on the motion ability of their arms, and the dynamic model of the human-robot system is presented. Based on the dynamic model, an interactive controller is designed to provide robotic assistance and monitor the progress and safety for the patient. Simulation results are presented to demonstrate the efficacy of the interactive control approach.