Multi-mode Controller for Hemiplegia Rehabilitation

Patients with hemiplegia should receive different therapeutic exercises at different stages. This paper proposes a multi-mode controller with three control strategies, namely PID control, impedance control, and admittance control. Depending on the muscle strength of patients, the multi-mode controller can automatically switch to the best mode. When the muscle strength is below the lower threshold, the controller will switch to PID control and achieve passive position control. When the muscle strength is above the upper threshold, the controller will switch to admittance control and achieve active force control. When the muscle strength is between two thresholds, the controller will switch to impedance control and achieve passive force control. These control strategies can meet the needs of patients with hemiplegia at different stages, and the use of the multi-mode controller can speed up the rehabilitation process, which has great practical significance.