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Page 138 Tong et al. Intell Robot 2024;4:125-45 I http://dx.doi.org/10.20517/ir.2024.08
Figure 9. Comparison of joint1 torque data.
Figure 10. Comparison of joint2 torque data.
Figure 11. Comparison of joint3 torque data.
thetorquechangesdirection. Thisisattributedtothestrongerrobustnessofthefuzzycontrolmethodtosystem
nonlinearityanduncertainty, resultinginfastersystemresponse. Additionally, thesystemcanadaptivelyadjust
PID parameters, enabling a quicker response to the motion intention of a patient, thereby allowing the patient
to provide smaller interactive forces for active rehabilitation training. This enhances its agility and smoothness.
