Measuring on Coupling Force between Lower Extremity Exoskeleton and Subject during Rehabilitation Training

To active rehabilitation training, Newton-Euler method is applied to build dynamic models for the powered exoskeleton and the subject. A method to extract the subject´s active force is proposed combined with the models. A mechanism for measuring the human-robot coupling force is designed on that basis. Two prototype experiments are proposed, one is an on-line experiment via different mass loadings, the other is the experiment via different forcing at rest positions in one gait cycle. The experimental results show that the mechanism is available for human-robot coupling force measuring. It also provides the feasibility and validity which will be used in subject´s on-line extracting of active forces based on the dynamic model during rehabilitation training.