Hybrid Mode Impedance Control For Rehabilitation System

This paper proposes a new controller for the robot which realizes motor system rehabilitation task. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation that were predefined through a musculoskeletal model based optimization process. We introduce control parameters of weighted control action priorities for the motion tracking task and force generation task, based on the position tracking error. With the weighted control action priorities, the robot puts higher priority on motion tracking at the robot end point when the position tracking error is larger than a threshold value, and also on force generation when the position tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through some simulation and experimental results, we show the usefulness of the proposed control method.