Research on active compliance control and experimentation of a horizontal lower limbs rehabilitation robot

To ensure training safety and comfort of the patients with dysfunction in lower limbs, an impedance controller was designed based on force feedback for a rehabilitation robot. The controller can make the robot have a certain degree of flexibility by adjusting the relationship between the end actuator position and force. The control model of the system was established, and the experimental research on it was done based on the dSPACE platform. The results showed that different stiffness and damping characteristics of the robot could be obtained by adjusting impedance parameters of the controller. And the effect of parameters on rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of the affected limb' recovery, so that the rehabilitation process can not only meet clinical needs but also has the submissive nature.