Parameter identification and adaptive compliant control of rehabilitation exoskeleton based on multiple sensors

Abstract To help rehabilitation of patients with lower limb dysfunction, a sitting/lying exoskeleton robot is designed for lower limb rehabilitation. Firstly, a coupling kinematics/dynamics model, including the wearer and exoskeleton, is established by the in-depth analysis of human-machine coupling relationship, and the prototype structure is introduced. Furthermore, according to the kinetic parameter identification method, an estimation method of active joint torque of human lower limbs is proposed to realize the prediction of human motion intention, which is the basis of the reference motion trajectory. Moreover, a reference trajectory adaptive compliance control algorithm is proposed. Finally, the human-computer interaction force is measured by the torque sensor, the effectiveness of the parameter identification and compliance control algorithm is verified.