Research on Trajectory Tracking Control of Traction upper Limb Rehabilitation Robot Based on Feedforward Impedance Theory

Abstract

The goal of this paper is to ensure the safety of human-computer interaction during passive upper-limb rehabilitation robot training. For the robot mobile platform, external environment contact force feedback control is required, as well as the capacity to regulate high-precision motion trajectory tracking. As a result, the feedforward impedance theory is used to create a trajectory tracking control method. The method may successfully increase patient safety when using upper limb rehabilitation robots, as well as improve patient rehabilitation efficiency. This study creates a virtual prototype and simulation experiment platform using a hybrid simulation of 3D modeling, finds the optimal control effect solution through many experiments on the simulation platform, then analyzes the algorithm. The algorithm will eventually be transferred to the prototype of the experimental platform for further verification and analysis in order to evaluate its dependability. The results show that the method can monitor a trajectory with great precision, and that the desired trajectory can be corrected. Keyword— Upper limb rehabilitation robot, Impedance control, Feedforward control, Human-computer of interaction, Track tracking.