Modelling and Control of Upper Limb Rehabilitation System Based on Variable Stiffness Joints

With the aggravation of population aging, the incidence of stroke is increasing exponentially, the number of professional rehabilitation doctors is limited, and the application of upper limb rehabilitation robots is becoming more and more extensive. In this paper, a variable-stiffness elbow rehabilitation robot is simulated, and its dynamics are modelling and analysis, and the kinematics and dynamic performance of the robot are explored. Meanwhile, the control method of the robot is optimized to achieve adaptive position control. Finally, through the optimization and improvement of the kinematic parameters of the robot, a good rehabilitation effect is achieved. In this paper, the superior performance of variable stiffness elbow rehabilitation robot is verified by simulation, which provides an effective reference for the application of robot in elbow rehabilitation treatment.