Control strategies for lower limb rehabilitation robot

摘要

Robotic devices for functional therapy for paralysis caused by neurologic injury is becoming popular now days. Effective control strategy is a key technical problem in developing a rehabilitation robot. In this paper, different control strategies for different training stages are proposed. Firstly, the rehabilitation process is divided into two stages which corresponding to two kinds of training modes: robot-in-charge and patient-in-charge (passive and active). Then, the position control method is proposed for passive mode as well as the bioelectrical signal (EMG) based control strategy for active training mode. Meanwhile, simulation of the control is conducted and the results proved the correctness of our control method.