Research on robot control system of lower limb rehabilitation robot based on human gait comfort

Aiming at the comfort of wearing rehabilitation training robot for patients with lower limb movement disorder, this paper proposes a control method based on real human gait data as the reference trajectory, and designs a control strategy with the comfort of human wearable robot as the objective function, and the wearing rehabilitation training robot can realize the real-time tracking of experimental trajectory of human movement. Firstly, NOKOV motion capture system is used to collect human gait data. Then, the dynamics model of the lower limb rehabilitation training robot's unilateral leg is identified by Lagrange method, and the controller with comfort level as the objective function is designed. The feasibility of the designed control method is proved by Lyapunov stability theorem. Finally, the effectiveness of the proposed method is verified by MATLAB simulation based experimental data on the lower limb rehabilitation training robot prototype.