Active training research of a lower limb rehabilitation robot based on constrained trajectory

In order to help patients achieve effective and coordinating multi-joints movement easily, the paper presents an active training method of a lower limb rehabilitation robot based on constrained trajectory. The realization process of the method is as follows. The patient´s movement intention is recognized by analyzing the signals from torque sensors installed in rehabilitation robot joints, and the moving velocity of the mechanical arm terminal is calculated through the establishment of the damping function and the design of constrained trajectory. The velocity of joints can be calculated through kinematic Jacobi matrix, and is used to drive the joints. The moving velocity of the mechanical arm terminal on a constrained trajectory can be controlled through adjusting the damping function, in order to achieve the active rehabilitation training for different patients at different levels. Finally, the feasibility of the method is validated by the experiment.