Flexible Control Design of Desktop Upper Limb Rehabilitation Robot Based on Admittance Strategy

In this paper, the basic control model is determined and simplified according to the classical control theory and the impedance principle proposed by Hogan. Then, the deformation formula of Sigmoid function is applied to the adjustment of damping coefficient and stiffness coefficient, and the control method of variable admittance parameter control is obtained through the comparison experiment with the fixed admittance parameter. The control method designed in this paper can not only meet the trajectory tracking accuracy of the rehabilitation process, but also dynamically meet the compliance requirements of different contact forces.