Virtual reality simulation of 5dof upper-limb rehabilitant robot based on repetitive control

In this paper, aiming at control method and treatment of upper-limb rehabilitant robot, establish the virtual reality simulation model for 5dof upper-limb rehabilitant robot based on repetitive control, analyzing simulation result. The simulation results show that control accuracy takes the precedence over the traditional methods and it has a fast convergence speed and good stability. The virtual-reality simulation of 5dof upper-limb rehabilitation robot based on repetitive control, which is benefit to understand the complex relationships among the objects, can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.