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However, most current rehabilitation robotic controllers will provide too much assistance force and focus only on the patient\u2019s position tracking performance while ignoring the patient\u2019s interactive force situation, resulting in the inability to accurately assess the patient\u2019s true motor intention and difficulty stimulating the patient\u2019s initiative, thus negatively affecting the patient\u2019s rehabilitation outcome. Therefore, this paper proposes a fuzzy adaptive passive (FAP) control strategy based on subjects\u2019 task performance and impulse. To ensure the safety of subjects, a passive controller based on the potential field is designed to guide and assist patients in their movements, and the stability of the controller is demonstrated in a passive formalism. Then, using the subject\u2019s task performance and impulse as evaluation indicators, fuzzy logic rules were designed and used as an evaluation algorithm to quantitively assess the subject\u2019s motor ability and to adaptively modify the stiffness coefficient of the potential field and thus change the magnitude of the assistance force to stimulate the subject\u2019s initiative. Through experiments, this control strategy has been shown to not only improve the subject\u2019s initiative during the training process and ensure their safety during training but also enhance the subject\u2019s motor learning ability.<\/jats:p>","DOI":"10.3390\/s23084042","type":"journal-article","created":{"date-parts":[[2023,4,17]],"date-time":"2023-04-17T05:51:41Z","timestamp":1681710701000},"page":"4042","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Fuzzy Adaptive Passive Control Strategy Design for Upper-Limb End-Effector Rehabilitation Robot"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0009-0003-7467-5318","authenticated-orcid":false,"given":"Yang","family":"Hu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China"},{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingyan","family":"Meng","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China"},{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoning","family":"Li","sequence":"additional","affiliation":[{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dazheng","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China"},{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guang","family":"Feng","sequence":"additional","affiliation":[{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2499-7397","authenticated-orcid":false,"given":"Guokun","family":"Zuo","sequence":"additional","affiliation":[{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunfeng","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4939-8676","authenticated-orcid":false,"given":"Jiaji","family":"Zhang","sequence":"additional","affiliation":[{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8879-4794","authenticated-orcid":false,"given":"Changcheng","family":"Shi","sequence":"additional","affiliation":[{"name":"Ningbo Cixi Institute of Biomedical Engineering, Ningbo 315300, China"},{"name":"Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,4,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gon\u00e7alves, R.S., Souza, M.R.d., and Carbone, G. 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