Compliant velocity based force coordinate transformation control for gait rehabilitation

With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a gait training device that guides the leg movements during gait, and a gait rehabilitation system using compliant force coordinate transformation control (CFCT) is proposed. The CFCT controller uses the direction of force applied by the patient to the device, and through coordinate transformation, divides the force into tangential and normal components based on the reference trajectory. Then, the force is applied to a compliance controller to smoothly guide the subjects´ legs in the intended direction. Switching conditions, which ensures the correct movement of the gait guidance, are designed to be used in pair with the CFCT controller. The controller is evaluated through experiments.