A Novel Auxiliary Strategy with Compliance and Safety for Walking Rehabilitation Training Robot

The walking rehabilitation training and comfortable auxiliary walking in daily life are crucial in improving the life quality for the elderly and the disabled. A walking rehabilitation training robot is developed in this paper, which integrates passive walking, active walking and hybrid walking mode. To achieve a non-contact detection approach of motion intention, we develop a multi-channels proximity sensor, and establish the detection platform. A motion control method with compliance and safety based on adaptive neural fuzzy inference system is proposed to investigate the user’s motion intention and generate the control target. Finally, comparative experiments are implemented to verify the superiority and effectiveness of the proposed method. The results showed that the rehabilitation training robot with the proposed controller has the capability to precisely control motion state after calculating the user’s walking intents. Our proposed method can effectively provide the assist strategy with compliance and safety for the elderly and the disabled. The walking assisted-robot with similar structure, which integrates the proposed approach, has a good universal property for the elderly and the disabled with different motion capability in the hospitals, pension centers, and families.