Research on Adaptive On-Demand Assistive Control Strategy for Upper Limb Rehabilitation Robot

Currently, upper limb exoskeleton rehabilitation robots provide the same level of assistance to different patients during active rehabilitation training, which prevents patients from fully utilizing their own initiative and thus affects the rehabilitation effect. To address this issue, this paper proposes an adaptive on-demand assistive control strategy based on impedance control for upper limbs. By establishing two modules of on-demand assistive control and trajectory tracking control, combined with methods of assessing limb movement state and on-demand control to adapt to the needs of patients at different stages of rehabilitation, the system achieves automatic adjustment of the assistive force size through synovial control, thereby maximizing the patient's moment of main force. The experimental results show that the adaptive assistive force system, compared with traditional methods, provides an average assistive force that is reduced by 41.9% under the same limb movement state coefficient, and can gradually reduce the assistive force provided according to the patient's recovery of motor ability. This indicates that the method is highly adaptable to different patients and can effectively enhance the patient's initiative in rehabilitation training, thereby improving the rehabilitation effect.