Gait Trajectory Control Technology of the Lower Limb Exoskeleton Rehabilitation Robot

To aid in the rehabilitation training of patients with severe lower limb movement disorders, a wearable lower limb exoskeleton rehabilitation robot system is proposed. Mechanical and dynamic models of the lower limb exoskeleton rehabilitation robot were established, and based on these models, a control system was designed. Dynamic compensation based on the exoskeleton model was introduced into the PID control loop, improving the traditional PD controller to a computed torque control (CTC) based PD controller. Through simulation and physical experiments, it was demonstrated that the designed controller exhibits good performance, enhancing the stability and robustness of the control system, meeting higher control precision requirements, and achieving more precise trajectory tracking control effect. The system can assist patients in passive training and promote the rehabilitation of lower limb motor function.