Adaptive Force Field Research on Plane Arbitrary Training Trajectory of Upper Limb Rehabilitation Robot Based on Admittance Control

Abstract

In order to further improve the flexibility, safety and training pertinence of the desktop end-traction type upper limb rehabilitation robot, this paper proposes a realization method of the adaptive force field of plane arbitrary training trajectory based on admittance control. In ROS, the flexible drag of the robot end is realized through the admittance control algorithm. For the drag trajectory, the function equation is obtained by fitting, and then the desired pose is adjusted in real time through the end pose to realize the trajectory force field. For the regular trajectory force field, a simpler plane segmentation method is used to achieve. The size of the force field is adaptively adjusted by means of position-force control, and the force is compensated in the tangential direction of the desired position, so as to realize the active rehabilitation training of the adaptive force field. The experimental results show that adding an adaptive force field to any plane training trajectory can improve training compliance, safety and training pertinence, which has an important reference for the application of personalized compliance active training to desktop upper limb rehabilitation robots.