A new impedance control structure for leg Rehabilitation Robot

Gait Rehabilitation Robot is an important and useful machine collaboration robot, which can operate the limbs that affected by a stroke or disorder like paraplegic to improve their normal operation. The control algorithms that are applied to set up should have good flexibility and safety to guarantee the effectiveness and comfort of the physiotherapies. The impedance control algorithm is one of these algorithms that can satisfy this flexibility. In this study a new improved impedance control structure is applied to rehabilitation robot. A new configuration is proposed in which the ground normal force is also taken into account. Moreover by means of this new structure the inverse dynamic's complexity is reduced. In this impedance control structure the stability's range is better than other similar works, and it is very important and useful result for physiotherapists. Via simulation and the results show good flexibility and tracking both hip and knee angle behavior.