@inproceedings{6e0cd5979f3143818b528cf4a490b8e7,
title = "Optimal Operation Control of Upper Limb Rehabilitation Robot Under Disturbances",
abstract = "Robots have been widely utilized in upper limb rehabilitation training to assist or replace manual rehabilitation work, thereby advancing research in human-robot interaction. To provide patients with more targeted and humanized training, this paper proposes a novel rehabilitation robot control system based on sliding mode control. By introducing a trajectory regulator to dynamically adjust the rehabilitation training trajectory online and incorporating a disturbance observer to estimate and compensate for disturbances, the proposed method aims to reduce uncertainties caused by patient limb tremors while ensuring patient safety and comfort during rehabilitation training. Simulation results validated the effectiveness of the proposed rehabilitation control strategy in terms of both training performance and disturbance suppression.",
keywords = "optimal trajectory regulator, rehabilitation robot, sliding mode control, trembling disturbances",
author = "Kexin Hu and Jian Li and Suli Zou and Zhongjing Ma and Jinhui Zhang",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11179243",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4982--4987",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "United States",
}