Experiment study of fuzzy impedance control on horizontal lower limbs rehabilitation robot

摘要

After the cerebrovascular disease majority patients will experience the weak time, the convulsion time and the recovery period three stages in the recovery process. In the different recovery stage, the changes of extremity's myodynamia and the myo-tensity will cause the control system not to be unstable. In view of this question, based on the traditional impedance control method, we presented Fuzzy variable impedance control using the force feedback information. The man-machine contact force will change when the myodynamia and the myo-tensity change in the training process. According to the change of the man-machine the contact force, we adjust impedance controller parameters online using the fuzzy logic reasoning. It can realize the advanced planning training path, and enables the robot to have certain flexibility to the trouble extremity. Meanwhile take the right leg as the example, experiment research is finished using the robot prototype. The curves of the convulsion time simulation convulsion position error and the force change were given. The impact of parameters on the rehabilitation is also analyzed. This controller may suit the disordered extremity in different recovery training stages, and it enables the recovery process to have the flexibility and to satisfy clinical needs also.