Damping control of rehabilitation robot for upper limbs

Active motions of upper limb is an absolutely necessary and effective means for paralysis patients recovery. This paper describes a force based active rehabilitation method supplied by an wearable exoskeletal rehabilitation robot. In order to predict motion intention of patients accurately, static model of the robot is built. Random Sample Consensus is introduced to calibrate static parameters. On this basis, terminal force control method based impedance control theory is study for the robot motions. Experimental results show that the proposed active damping rehabilitation strategy can be applied to patients after stoke at different recovery stage.