CONTROL SYSTEM FOR REHABILITATION DEVICE

摘要

The present invention relates to a control system for a rehabilitation auxiliary device, which controls the rehabilitation auxiliary device by getting feedback about movement depending on a kinetics reaction due to a force action of a rehabilitation auxiliary device user. The control system for a rehabilitation auxiliary device according to the present invention comprises: a parameter setting unit which sets a control parameter including a motion mode of the rehabilitation auxiliary device for driving a motor from the user, the torque limit range of the motor, and an impedance type and the variation range of the motor, and generates a control code depending on the control parameter set by the user; a motor torque detection unit which detects a torque of the motor; and a control unit which calculates impedance for controlling the motor by getting the feedback about the torque of the motor from the motor torque detection unit after receiving the control code generated by the control parameter setting unit, and admittance-controls the motor depending on the calculated impedance.