Fuzzy impedance control strategy for jaw rehabilitation using 6-UPS stewart robot

Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of general 6UPS are discussed. Then SimMechanics software is employed to validate dynamics equations. Next an impedance filter is developed. The gains of this filter are adjusted by fuzzy logic method to achieve the reference force. In order to reproduce jaw motions and apply the impedance control, the workspace of human jaw is needed. To obtain this workspace, three male subjects (age range 24-28 years) were selected. Results show that the fuzzy impedance control is suitable to control of masticatory robots.