Force control of wire driving lower limb rehabilitation robot

To solve the technical problems associated with the research on lower limb rehabilitation robot in terms of configuration design, human-machine compatibility, lightweight, and multimodel rehabilitation.

This study introduced a parallel wire driving lower limb rehabilitation robot. The robot featured modular design, reconfiguration, multimodel, and good human-machine compatibility.

The dynamics model of the wire driving module (WDM) was built based on which a multiple feedback loop controller (including a forward controller and a surplus force compensator) was designed.

The experimental results showed that the WDM could load force accurately and reliably during the loading procedure.

The machinery and control system of the WDM met the design request.