中国科学院自动化研究所机构知识库

Human-robot interaction control plays a significant role in
the research and clinical application of rehabilitation robots. A fuzzy
adaptive variable impedance control strategy is proposed in this paper.
Firstly, a dynamic model is established by using the Lagrangian method
and the traditional friction model, which can be used to predict humanrobot interaction forces. Then, a fuzzy adaptive variable impedance control strategy based on the human-robot system dynamic model is designed. In the designed control strategy, the interaction forces, position
and velocity errors are taken as the system inputs, and a fuzzy adaptive law is used to adjust the damping and stiffness coefficients. Finally, the dynamics identification experiments and simulation of the fuzzy
adaptive variable impedance control strategy are carried out, by which
performance of the proposed method is validated.