Impedance control with automatic load regulation for a twin belt-driven human training system

This paper proposes a new method of the interaction force control based on impedance control and B-spline interpolations for a human training system. The supporting interaction force to the human training is adjusted by the automatic load regulation. The automatic load regulation based on impedance control and B-spline function for training system in human stroke is developed. The robotic features of these training systems that the ability to design different level of assistive force makes it well suited to customized training programs due to time and human stroke constraints. During a whole motion of one stroke training, the human force is detected with fast response and regulated under time and position stroke constraints. The results from the experiments confirm that the proposed method generates a good realization of interaction force between human and the training system.