Impedance Control of Upper Limb Rehabilitation Robot Based on Neural Network

摘要

The upper limb rehabilitation robot is in direct contact with the patient, so the control of the robot needs to be compliant. In this paper, an impedance control method of three degree of freedom upper limb rehabilitation robot is proposed. In the impedance control model, the force between the patients and machine is simplified into a spring damping system. The neural network PID is used to control the robot to achieve the desired trajectory. The learning function of neural network can adjust parameters of PID online which enables the impedance control method to control the metabolic system. Finally, the test results show that the impedance control method has certain superiority.