Optimal Operation Control of Upper Limb Rehabilitation Robot Under Disturbances

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.