AN IMPEDANCE CONTROL METHOD OF A ROBOTIC ORTHOSIS FOR GAIT REHABILITATION
Juan Li, Weida Li, Xiaowei Cai, Haitao Zhou
Soochow University, China
Gait rehabilitation robots are of increasing importance in neurorehabilitation. Conventional devices are usually limited to reproduce predefined movement patterns. Research on patient-cooperative control strategies aims to improve robotic behavior. Robots should support patients only as much as needed and encourage them to make maximal voluntary efforts. This paper presents an impedance control algorithm that allows patients to modulate their leg movements. By this control strategy, compliant virtual walls keep the patient’s legs within a “tunnel” around the desired spatial path. Furthermore, in order to modulate control parameters with patient conditions, human-robot coupling force is measured to evaluate the active participation force. Experiments show that the robot can modulate impedance control parameters according to human-robot interaction force, and carry out effective rehabilitation training for the patients.