Adaptive Research of Lower Limb Rehabilitation Robot Based on Human Gait

摘要

For patients with dyskinesia caused by central nervous system diseases such as stroke, the lower limb rehabilitation robot is required to provide passive rehabilitation training during the initial rehabilitation training, and a trajectory for healthy human body is used as a reference trajectory, this paper designs an adaptive controller to help patients with rehabilitation training methods. First, the gait trajectory of a healthy human body is obtained using an optical motion capture system and used as a reference trajectory for rehabilitation training. Then, the unilateral oscillating leg of the lower limb rehabilitation robot is modeled by dynamics. Based on this, an adaptive controller is designed to enable the lower limb rehabilitation robot to quickly track the desired trajectory, and a similarity function for evaluating the follow ability of the lower limb rehabilitation robot is proposed. Finally, experiments on the prototype of MATLAB simulation and lower limb rehabilitation robot demonstrates the feasibility of the proposed method.