Adaptive Gait Training of a Lower Limb Rehabilitation Robot Based on Human-Robot Interaction Force Measurement.

ABSTRACT: The existing fixed gait lower limb rehabilitation robots perform a predetermined walking trajectory for patients, ignoring their residual muscle strength. To enhance patient participation and safety in training, this paper aims to develop a lower limb rehabilitation robot with adaptive gait training capability relying on human-robot interaction force measurement. Firstly, a novel lower limb rehabilitation robot system with several active and passive driven joints is developed, and 2 face-to-face mounted cantilever beam force sensors are employed to measure the human-robot interaction forces. Secondly, a dynamic model of the rehabilitation training robot is constructed to estimate the driven forces of the human lower leg in a completely passive state. Thereafter, based on the theoretical mo

SUBMITTER: Yu F 

PROVIDER: S-EPMC11192188 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature