Research on Control Strategy of Cervical Rehabilitation Robot for Flexible Suspension

Abstract

This paper is based on a self-designed intelligent cervical traction rehabilitation robot. In order to control the flexibility of the rope, as well as the precision of the rope traction force and the angle of the flexion and extension movement of the cervical spine, a force/position hybrid control method is adopted in this paper. In order to solve the dynamic precision of the traction force and improve the stability and robustness of the system, the force/position control force controller and the position controller are selected by the fuzzy sliding mode control. The combination of fuzzy control and sliding mode control improves the accuracy and attenuate chattering. Experimental verification shows that the accuracy requirement and tractive force compliance control can be achieved.