Lower limb rehabilitation robot control based on human gait data and plantar reaction force

In this paper, to improve the safety and availability of rehabilitation training for patients, a control scheme for Lower limb rehabilitation robot (LLRR) based on human gait data and plantar reaction force is proposed. First, the real normal human gait data obtained by motion capture platform (MCP) is fed to the designed control system, and the plantar reaction force is fed to the LLRR after dynamic calculation. Then, a controller based on joint angle and angular velocity tracking error is designed to realize the trajectory tracking. Finally, for a robot simulation model, the effectiveness of the proposed method is confirmed based on the simulation results.