Design and Passive Training Control of Elbow Rehabilitation Robot

In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the motion model and system elbow joint model. The passive training mode of robots were researched, active disturbance rejection control (ADRC) leveraged to improve tracking angle joints. no-load simulation robots, disturbances are added variables complete ADRC Proportional Integral Differential (PID) position simulation. results indicate that auto can quickly keep up expected signal without overshoot, solve contradiction between rapidity overshoot. Moreover, it better suppress interference even if external load changes. upper limbs human body used as PID objects different weights. Finally, experiment was conducted verify safety robot, rationality, comfort, robustness mechanism design, effectiveness feasibility ADRC.