In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the rehabilitation robot motion model and a system elbow joint model. The passive training mode of rehabilitation robots were researched, and active disturbance rejection control (ADRC) leveraged to improve the tracking angle of robot joints. In the no-load motion simulation of rehabilitation robots, disturbances are added to the control variables to complete the ADRC and Proportional Integral Differential (PID) position control simulation. The simulation results indicate that the auto disturbance rejection control can quickly keep up the expected signal without overshoot, solve the contradiction between the system rapidity and overshoot. Moreover, it can better suppress the interference even if the external load changes. The upper limbs of the human body are used as the load on the robot body to complete the simulation of ADRC and PID position control objects of different weights. Finally, a passive rehabilitation training experiment was conducted to verify the safety of the rehabilitation robot, the rationality, comfort, and robustness of the mechanism design, and the effectiveness and feasibility of the ADRC.

中文翻译：

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肘关节康复机器人的设计与被动训练控制

本文基于康复机器人的运动模型和系统肘关节模型，设计了由复丝肌肉驱动的康复机器人。研究了康复机器人的被动训练模式，并利用主动干扰抑制控制（ADRC）来改善机器人关节的跟踪角度。在康复机器人的空载运动仿真中，将干扰添加到控制变量中以完成ADRC和比例积分微分（PID）位置控制仿真。仿真结果表明，自动抗干扰控制可以快速保持期望信号，不会出现过冲现象，解决了系统速度与过冲现象之间的矛盾。此外，即使外部负载发生变化，也可以更好地抑制干扰。人体的上肢被用作机器人身体上的负载，以完成对不同重量的ADRC和PID位置控制对象的仿真。最后，进行了被动康复训练实验，以验证康复机器人的安全性，机构设计的合理性，舒适性和鲁棒性，以及ADRC的有效性和可行性。