关键词: 基于力阻抗控制, 手臂康复机器人, 柔顺运动, 实验研究

Abstract:

The robot control system adopted impedance control thoery and used force-based impedance control methods to design robot system controller.With MATLAB/Simulink system design tools,the system impedance models were established,and experimented based on the dSPACE real-time smulation platform. The results show that the rehabilitation robot can accomplish different dampness and stiffness effection by changing the damp and stiff parameters in the controller. The robot realizes compliant motion in the passive and active training mode.

Key words: force-based impedance control, arm rehabilitation robot, compliant motion, experimental research