Sensors, Vol. 23, Pages 4042: Fuzzy Adaptive Passive Control Strategy Design for Upper-Limb End-Effector Rehabilitation Robot

Sensors, Vol. 23, Pages 4042: Fuzzy Adaptive Passive Control Strategy Design for Upper-Limb End-Effector Rehabilitation Robot Sensors doi: 10.3390/s23084042 Authors: Yang Hu Jingyan Meng Guoning Li Dazheng Zhao Guang Feng Guokun Zuo Yunfeng Liu Jiaji Zhang Changcheng Shi Robot-assisted rehabilitation therapy has been proven to effectively improve upper-limb motor function in stroke patients. However, most current rehabilitation robotic controllers will provide too much assistance force and focus only on the patient’s position tracking performance while ignoring the patient’s interactive force situation, resulting in the inability to accurately assess the patient’s true motor intention and difficulty stimulating the patient’s initiative, thus negatively affecting the patient’s rehabilitation outcome. Therefore, this paper proposes a fuzzy adaptive passive (FAP) control strategy based on subjects’ task performance and impulse. To ensure the safety of subjects, a passive controller based on the potential field is designed to guide and assist patients in their movements, and the stability of the controller is demonstrated in a passive formalism. Then, using the subject’s task performance and impulse as evaluation indicators, fuzzy logic rules were designed and used as an evaluation algorithm to quantitively assess the subject’s motor ability and ...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research