Position-based Adaptive Impedance Controller Design for Lower Limb Rehabilitation Robot

Abstract

Aiming at the tracking problem of human-computer interaction force in active rehabilitation training mode, the position-based adaptive impedance controller is used to control the human-computer interaction force in the training process. The control rate of the adaptive impedance controller is first derived. The position controller and impedance controller simulation model are established based on MATLAB software, and the impedance control effect is simulated. The experimentally proven position-based adaptive impedance controller can realize the resistance following requirements in the active training process.