Experiment study of impedance control on horizontal lower limbs rehabilitation robot

Abstract

Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain degree of flexibility by adjusting the relationship of the end actuator position and force. Experiment study is conducted on the right leg's mechanism. Curves of position error and torque under different control parameters are given, and the effect of controller parameters on the rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of recovery training, so that the rehabilitation training process not only can meet clinical recovery needs of disabled patients on the lower limbs but also has submissive nature.