Yangzuobin Ding, Xiaodong Liu, Peng Chen, He Bu, Simin Li, and Xiaobo Zhang
Assist-as-needed controller, impedance control, upper limb rehabilitation, fault-tolerant region, human–robot interaction
This paper proposes an assist-as-needed (AAN) position-based impedance controller for rehabilitation training of upper limb motor function impairments in patients. The controller establishes a fault- tolerant region around the movement training trajectory, allowing the upper limb to move freely in this space without assistance from the robot. For the movement out of the fault-tolerant region, the robot provides compliant assistance to guide the upper limb back toward the movement training trajectory. This study established an equivalent model of the upper limb coupled with a robot model and implemented a human–robot interaction system for control simulation that enhanced the reliability and practicality of the rehabilitation training. The experiments were conducted on a seven- degree-of-freedom robot arm platform, and the results could validate the performance of the controller in simulation for safe and effective rehabilitation training.
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