基于模糊逻辑的上肢康复机器人阻抗控制实验研究

针对机器人辅助患肢主动康复训练过程中辅助力／阻力不能随患肢病情实时调整的问题，提出了一种 新的模糊自适应阻抗力控制方法．该方法实时检测患肢与机器人之间的相互作用力，并进一步运用辨识算法实时估 计出患肢的病情状态；然后运用模糊阻抗控制器对两者之间的相互作用力进行实时调整，使得在患肢主动能力不 足时提供一定的辅助，而在其有能力完成动作时，实时调整阻力实现肌力训练．实验结果表明了该控制方法的有效 性．

Experimental Study on Fuzzy-Logic-Based Impedance Control for Upper-limb Rehabilitation Robot

 A new fuzzy and adaptive impedance force control method is presented to solve the problem that the assistive/ resistive forces can not be regulated in real time according to the impaired limb’s physical recovery condition in robotaided neurorehabilitation. Firstly, the interactive force between the robot and impaired limb is detected, and then the impaired limb’s physical condition is estimated online by using an identification algorithm. Finally, the interactive force between them is regulated in real time using a fuzzy impedance controller. Thus, an assisting force will be supplied by the robot when the impaired limb fails to reach the target. On the contrary, an adaptive resistive force will be applied to the impaired limb to achieve muscle power training. Experimental results demonstrate the effectiveness of the proposed control strategy.