Abstract
For the influence caused by illness condition of suffered limb on system stability when robot makes rehabilitation training on assisted suffered limb, on the basis of the traditional impedance control method, this paper puts forward one kind of impedance control method based on fuzzy neural network. This method adopts mechanical impedance parameter of suffered limb which can correctly reflect illness characteristics of suffered limb as controller input, the impedance control parameter based on position is applied in robot for upper limb rehabilitation. It makes simulation by simulink and makes analysis on influence of target impedance parameter on control ability of system. The analysis and simulation result indicate that method after improvement can effectively adapt to illness change of patient than the traditional impedance control method, and it has better smoothness and stability.
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