Research on Human-Machine Interaction Control Technology for Lower Limb Exoskeleton Rehabilitation Robots

摘要

In response to the health assurance challenges faced by the elderly population in China’s aging society and to mitigate the shortage of medical resources while improving the rehabilitation rate of patients with central nervous system injuries, research on lower limb exoskeleton rehabilitation robots has been widely conducted. Since the 1960s, countries such as Switzerland, the United States, the Netherlands, Germany, Japan, and China have successively developed relatively mature standing and recumbent lower limb exoskeleton systems. This paper builds the kinematic and dynamic models of a lower limb exoskeleton rehabilitation robot based on a two-link mechanism, laying the theoretical foundation and implementation approach for processing position, velocity, and torque sensor signals in human-machine interaction control. Based on domestic and international progress as well as kinematic and dynamic analysis, four types of human-machine interaction control technologies—trajectory tracking control, force-position hybrid control, impedance control, and bioelectrical signal control—are thoroughly analyzed, providing a technical framework for engineering implementation. In the future, lower limb exoskeleton rehabilitation robots will integrate lightweight materials and structural design, intelligent adaptive algorithms, and environmental perception technologies, utilizing low-cost open-source platforms to optimize human-machine interaction control technology for more efficient, safe, and personalized rehabilitation training