Adaptive Cooperative Control Strategy for a Wrist Exoskeleton Using Model-Based Joint Impedance Estimation

Wrist rehabilitation exoskeletons have gained much attention over the last decades, striving to restore motor functions for patients with neuromuscular disorders. Electromyography signal has been employed estimate motion intention achieve interactive training schemes. However, it is a challenging task joint impedance in real time, as crucial parameter control of exoskeletons. This article proposes an adaptive cooperative strategy wrist exoskeleton based on real-time estimation approach. By explicitly interpreting underlying transformation muscular and skeletal systems, proposed approach estimates human subject simultaneously without additional calibration procedures regulates trajectories assistance accordingly. Results indicate method outperforms other protocols, including trajectory tracking fixed control. The provides 66.25% deviation when estimated torque increases 12.36%, which enhances effectiveness interaction safety promotes subjects' active engagement.