Transcranial magnetic stimulation is a powerful and non-invasive technique to stimulate nerve cells in the brain to improve symptoms of depression. It needs accurate contact force and positioning of a stimulating coil to offer effective treatment. Conventionally, a neurologist has to manually place the coil on the patient’s head at a predefined position and orientation throughout the 30-to-45-minute treatment. This paper consequently highlights the design of a robot control framework used for the transcranial magnetic stimulation. The hybrid Proportional-Derivative position and Proportional–Integral force control scheme was successfully implemented on the effective robotic system. The system can track the head movement by using the Kinect camera and simultaneously maintain the contact force between the magnetic coil and the head in real-time. The optimal gain tuning technique was adopted. It delivered PD gains of $K_p$ = 75.0, $K_d$=2.0 and PI gains of $K_p$ = 0.09 and $K_i$ = 0.011, respectively. This provides a faster response of the robot end-effector with a small interactive force error. The experimental results show that when the head has translational and rotational motions, the robot-assisted transcranial magnetic stimulation control system performs with a safe and reliable manner validated by the quantitative measurement.

经颅磁刺激是一种强大而无创的技术，可以刺激大脑中的神经细胞以改善抑郁症状。它需要精确的接触力和刺激线圈的位置才能提供有效的治疗。通常，神经科医生必须在整个30到45分钟的治疗过程中，将线圈手动放置在患者头部的预定位置和方向上。因此，本文重点介绍了用于经颅磁刺激的机器人控制框架的设计。在有效的机器人系统上成功实现了混合比例-导数位置和比例-积分力控制方案。该系统可以使用Kinect摄像头跟踪头部的运动，同时实时保持电磁线圈和头部之间的接触力。采用了最佳增益调整技术。它带来了PD的收益${ķ}_p$ = 75.0， ${ķ}_d$= 2.0，PI增益为 ${ķ}_p$ = 0.09并且 ${ķ}_{\mathrm{一世}}$ 分别为0.011。这样可以以较小的交互作用力误差更快地响应机器人末端执行器。实验结果表明，当头部发生平移和旋转运动时，该机器人辅助经颅磁刺激控制系统的性能可通过定量测量验证，安全可靠。