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Upper limb exoskeleton rehabilitation robot serves as essential tools for assisting patients with upper limb motor dysfunction. These robots must offer diverse training trajectories while ensuring these trajectories adapt to the patients’ training status. In this paper, we develop training trajectory based on the robot’s safe training area and design an adaptive impedance control strategy by solving the human–robot interaction force during motion. This approach aims to ensure patient safety, meet the varied rehabilitation needs of different patients, and adjust the robot joints according to their training status, thereby achieving adaptive compliance control of the robotic system.

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Research on Trajectory Planning and Adaptive Flexibility Control Strategy for Upper Limb Exoskeleton Rehabilitation Robot

  • 会议论文

  • 发表日期：

    2025年

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  • Yuansheng Ning,
  • Luige Vlădăreanu,
  • Lingfeng Sang,
  • Peng Chen,
  • Ionel-Alexandru Gal,
  • Hongbo Wang,
  • Ștefan Ghibanu,
  • Qi Wang

摘要

Upper limb exoskeleton rehabilitation robot serves as essential tools for assisting patients with upper limb motor dysfunction. These robots must offer diverse training trajectories while ensuring these trajectories adapt to the patients’ training status. In this paper, we develop training trajectory based on the robot’s safe training area and design an adaptive impedance control strategy by solving the human–robot interaction force during motion. This approach aims to ensure patient safety, meet the varied rehabilitation needs of different patients, and adjust the robot joints according to their training status, thereby achieving adaptive compliance control of the robotic system.