Dual-Modal Hybrid Control for an Upper-Limb Rehabilitation Robot

The recovery treatment of motor dysfunction plays a crucial role in rehabilitation therapy. Rehabilitation robots are partially or fully replacing therapists assisting patients exercise by advantage robot technologies. However, the training system is not yet intelligent enough to provide suitable modes based on intentions with different abilities. In this paper, dual-modal hybrid self-switching control strategy (DHSS) proposed automatically determine mode patients, i.e., passive and assistive mode. strategy, potential field method ADRC position employed plan trajectories assist patients’ training. Dual-modal rules impulse information presented identify Finally, DHSS assisted five subjects performing an average deviation error less than 2 mm both modes. experimental results demonstrate that muscle activation differed significantly It also verifies reasonable effective, which helps train independently without therapists.