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There are many elderly people with limb disorder in China，and exercise rehabilitation technology is an effective means of rehabilitation treatment. However，the serious imbalance of doctor-patient ratio makes it difficult for everyone to enjoy rehabilitation medical services. Impedance control technology is used for the safe interaction between rehabilitation robot and human body. However，constant impedance control is used in the existing rehabilitation robots，which has weak environmental adaptability and is difficult to be applied in clinical practice. In view of the above problems，a variable impedance control method was proposed. The user's surface electromyography signal（sEMG） was collected as input，and his upper limb motion angle was trained and recognized by the improved random forest algorithm. With the end force sensor，the motion intention was obtained，and then the rehabilitation motion was completed by the variable impedance controller. The experimental platform was built，and the track tracking and rehabilitation training abilities were verified and evaluated. The results show that the designed controller could control the robot to complete rehabilitation movement.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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