Research on fuzzy impedance control of upper-limb rehabilitation robot based on membership functions online optimization learning strategy
Peng Wang,
Renquan Dong
Abstract:Purpose
To improve the position tracking efficiency of the upper-limb rehabilitation robot for stroke hemiplegia patients, the optimization Learning rate of the membership function based on the fuzzy impedance controller of the rehabilitation robot is propose.
Design/methodology/approach
First, the impaired limb’s damping and stiffness parameters for evaluating its physical recovery condition are online estimated by using weighted least squares method based on recursive algorithm. Second, the fuzzy impedance… Show more
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