A hybrid force position control for a upper limb rehabilitation robot of series mechanism

Interactive rehabilitation robot which has better interaction is one main method to improve the patients' motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients' state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UECM was developed to improve the patients' voluntary motion in exercises by controlling the robot to provide external forces according to the patients' forces and motion velocity. The hybrid force position controlled robot will be used for stroke patients under different states since its interactive control method.