A Modified Patient-Cooperative Robot-Aided Gait Rehabilitation Algorithm Based on Path Control

Spinal cord injury, brain stroke, and MS are some of the most important causes of moving disabilities. One of the most common disabilities is gait disorder. Gait rehabilitation exercises can help patients regain their moving abilities. The use of robots in the rehabilitation process of patients with moving disabilities is increasing due to the difficulties of traditional rehabilitation methods. The main challenge of using robots in rehabilitation is designing a control system that helps patients only when they need it. This goal can be achieved using “assist-as-needed” control strategies. In this paper, a new control system for the University of Guilan Rehabilitation Robot is introduced. This control method is based on the “path control” method which is an assist-as-needed control strategy used for gait rehabilitation robot LOKOMAT. Unlike the path control method, the proposed control system uses an equation to calculate the support torques generated by the system while the patient's position remains inside the “virtual tunnel” around the reference trajectory. Finally, a simulation is carried out to evaluate the effects of using the proposed method on the system.