2022
DOI: 10.3389/fnbot.2022.1007324
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Design and torque control base on neural network PID of a variable stiffness joint for rehabilitation robot

Abstract: Variable stiffness joints have been gradually applied in rehabilitation robots because of their intrinsic compliance and greater ability to adjust mechanical stiffness. This paper designs a variable stiffness joint for upper limb rehabilitation training. The joint adopts the variable stiffness principle based special curved surface. The trapezoidal lead screw in the variable stiffness module has a self-locking function, and the stiffness can be maintained without the continuous output torque of the motor. In t… Show more

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Cited by 3 publications
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