Intelligent Parametric Adaptive Hybrid Active–Passive Training Control Method for Rehabilitation Robot

摘要

Rehabilitation robots facilitate patients to take part in physical and occupational training. Most of the rehabilitation robots used in clinical practice adopt pure passive training or active training, which cannot sense the active participation of patients during passive training and lack adaptive dynamic adjustment of training parameters for patients. In this paper, an intelligent hybrid active–passive training control method is proposed to enhance the active participation of patients in passive training mode. Firstly, the patients’ joint mobility and maximum muscle power are modelized and calibrated. Secondly, the robot joints are actuated to train according to joint mobility and speed for two cycles. The human–machine coupled force interaction control model can recognize the patients’ active participation in the training process. Finally, the passive training joint motion speed for the next training cycle is adaptively updated by the proposed control method. The experimental results demonstrate that the control method can sense the patients’ active participation and adjust the passive training speed according to the patients’ active force interaction. In conclusion, the hybrid active–passive training control method proposed in this paper achieves the desired goal and effectively improves the patients’ rehabilitation effect.