The invention belongs to the technical field of
rehabilitation robots, and particularly relates to a power-assisted
elbow and
wrist exoskeleton based on a variable-rigidity
actuator and a control method of the power-assisted
elbow and
wrist exoskeleton. According to the
exoskeleton, variable rigidity actuators are integrated at
elbow joints and
wrist joints, and by actively adjusting the joint rigidity and driving torque, a
safer and more comfortable power-
assisted exercise and
rehabilitation training environment conforming to physiological mechanical characteristics is provided for patients suffering from apoplexy hemiplegia,
cerebral trauma and the like. In the aspect of ergonomics, the joint physiological rotation center and the
human body structure characteristics are combined, and the fitting degree and comfort of exoskeleton wearing are guaranteed; in the aspect of the control method, high-precision position / torque tracking and active compliance are realized through multi-degree-of-freedom dynamic modeling and
feedback linearization control; and in the aspect of
safety design, a rigidity self-adaptive mechanism is built in, and inherent flexibility and man-
machine co-protection safety in a collision or abnormal state can be guaranteed without depending on an external sensor
assembly.