Upper Limb Rehabilitation Device Based on Adaptive Impedance Control

This article studies an upper limb rehabilitation device based on adaptive impedance control based on the different rehabilitation needs of stroke patients after surgery. First, under passive training, the device restores the patient's muscle strength by guiding the patient to perform periodic movements on a predetermined trajectory. Secondly, an impedance controller with joint driving torque as the control quantity is designed to provide moderate resistance by changing the damping coefficient. Strengthen the patient's muscle strength, and use fuzzy control algorithms to match individual impedance parameters based on the patient's maximum activity angle and maximum activity muscle strength. At the same time, virtual rehabilitation games are combined to motivate patients to train and enhance patients’ confidence in rehabilitation. Finally, experiments were conducted to test that the device can be combined with rehabilitation games for active and passive training, verifying its stability and effectiveness.