9. Adaptive Ankle Rehabilitation Robot Control Strategies

The basic formulation of the outer impedance control loop used in this research is also presented in this chapter. In this work, the basic impedance control law had been extended to yield a more advanced interaction control scheme for passive range of motion and active assistive exercises. One of these extensions involves the incorporation of an impedance parameter adjustment module in the overall interaction control scheme. This chapter explores the use of an assistance adaptation scheme to achieve the above and presents the implementation of a control module to facilitate active user participation in the rehabilitation exercises. The proposed assistance adaptation scheme is also designed to reduce the amount of resistance applied by the robot when the user is moving ahead of the reference position.