Abstract
Aiming at solving the problems of the existing lower limb rehabilitation robots on aspects of configuration limitations, human–machine compatibility, gravity compensation, and multimodal rehabilitation, a movable cable-driven lower limb rehabilitation robot (MCLR) is proposed in this paper, which can realize the gait training and walking training in passive mode, initiative mode, and assistive mode. First, the structure and working principle of MCLR is introduced. The traction type is further optimized. Second, the key control problems of the passive force servo system are analyzed in detail. In order to improve the loading accuracy and speed during the initiative training, the dynamic model of the cable-driven unit is established. Based on this model, an active force control strategy is proposed. Finally, the speed control strategy and the active force control strategy are studied experimentally. The experimental results show that the speed servo system has good tracking ability, which can meet the requirements of the passive rehabilitation. The active force control strategy can significantly improve the loading accuracy and the dynamic performance of the force servo system. The force servo system has good tracking ability in the normal rehabilitation frequency band, which can meet the requirements of the initiative rehabilitation.
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