Abstract

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.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.