A NOVEL SYNCHRONIZATION CONTROL STRATEGY FOR GAIT REHABILITATION ROBOTS
National University of Singapore, Singapore
In order to provide effective assistance during gait training, it is important for the rehabilitation robot to achieve synchronized motion with the human gait. We developed novel control strategy based on an adaptive oscillator . The adaptive oscillator estimates the stride percentage of gait based on the gait events information, which is detected in real time with a hidden Markov model (HMM). Synchronous reference trajectories for the robot are then generated with a look-up table. An impedance controller is implemented to provide assistance based on the synchronous reference. The proposed synchronization method is implemented in a portable knee-ankle-foot robot and tested in 15 healthy subjects. The experimental results demonstrate that the proposed control strategy is efficient in achieving human–robot synchronization and feasible for rehabilitation robotics application.