Design of an active and passive type walking assistant robot for human

To meet the requirements of rehabilitation training for hemiplegia patients or the elderly and the lack of intelligent training rehabilitation equipment, a walking assistant rehabilitation robot for the human lower limb movement is proposed. In this paper, a control strategy for the motion of the walking assistant robot has been proposed. The robot has two modes, active and passive mode according to different patients or trainings respectively, namely, training in a state of initiative and training of trajectory tracking. Through the human-computer interaction system, help the old man or hemiplegia patients automatically go forward, turn around, and prevent speeding, falling and other functions in real time. The kinematics analysis was carried out on the studied system, and the law of motion was described in details. Trajectory tracking simulation experiment and two groups of motion control experiment was carried out in the control of the PID controller. The simulation and experiment results show that the robot can track the desired trajectories exactly and steadily and it proved the advantage of the control strategy and control system, At the same time of helping patients with early rehabilitation, it also have an important significance for the development of rehabilitation equipment.