Research of coordination control for gait rehabilitation training robot

摘要

Aiming at realizing the coordination control of gait rehabilitation training robot,the coordination control method was proposed,including the coordination control of exoskeleton leg with treadmill and the coordination control of body weight support system with exoskeleton legs.At last the coordination control effect among exoskeleton legs,treadmill and body weight support system was proved by using dummy for experiments.The experimental result shows that the gait training rehabilitation robot can realize good partial body-weight supported gait training for dummy,which demonstrates a good coordination control effect among exoskeleton legs,treadmill and body weight support system,and lays the good foundation for further experiment with real patients.