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This paper proposes an innovative control strategy for ankle rehabilitation in stroke patients based on the variable impedance control algorithm for rehabilitation robots. By gradually increasing stretching torque on the ankle joint and reducing the stretching speed appropriately when approaching the maximum range of motion (ROM), it safely and effectively stretches the ankle joint to achieve recovery of the ankle joint ROM. The control system comprises a low-level position controller and a high-level impedance controller. The high-level controller uses a variable torque tracking control algorithm to improve the system’s disturbance suppression ability and tracking sensitivity in dynamic stretching tasks by adjusting impedance parameters. Simulation results show the algorithm has outstanding stability and responsiveness in ankle joint stretching and torque tracking. Regarding step response testing, the rise time of the system has significantly decreased from 1.735 s to 0.199 s, a reduction of 88.5%; meanwhile, the settling time also reduced from 3.103 s to 1.242 s, a decrease of 60%.

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Variable Impedance Control for Dynamic Torque Tracking in Stretching of Ankle Joints

  • 会议论文

  • 发表日期：

    2025年

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  • Mingyang Luo,
  • Renxiang Wu,
  • Jinting Ma,
  • Naiwen Zhang,
  • Jianjun Li,
  • Qiuyuan Li,
  • Guo Dan

摘要

This paper proposes an innovative control strategy for ankle rehabilitation in stroke patients based on the variable impedance control algorithm for rehabilitation robots. By gradually increasing stretching torque on the ankle joint and reducing the stretching speed appropriately when approaching the maximum range of motion (ROM), it safely and effectively stretches the ankle joint to achieve recovery of the ankle joint ROM. The control system comprises a low-level position controller and a high-level impedance controller. The high-level controller uses a variable torque tracking control algorithm to improve the system’s disturbance suppression ability and tracking sensitivity in dynamic stretching tasks by adjusting impedance parameters. Simulation results show the algorithm has outstanding stability and responsiveness in ankle joint stretching and torque tracking. Regarding step response testing, the rise time of the system has significantly decreased from 1.735 s to 0.199 s, a reduction of 88.5%; meanwhile, the settling time also reduced from 3.103 s to 1.242 s, a decrease of 60%.