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The upper limb rehabilitation robot is used to assist patients with upper limb hemiplegia for rehabilitation training. During the passive rehabilitation training of the patient, the trajectory of the rehabilitation training must be as smooth as possible, so that the patient will not feel discomfort when pulling the affected limb. The passive control algorithm of the existing upper limb rehabilitation robot is not ideal for the lag processing of the system. This paper designs a passive control algorithm based on PI hysteresis compensation. The hysteresis effect of the system can be greatly reduced by introducing the hysteresis compensation term  u c . Experimental results show that the algorithm can effectively eliminate the hysteresis effect of the system.

Research on control algorithm of the upper limb rehabilitation robot based on PI hysteresis compensation