Compliance Control Method of Exoskeleton Robot Assisted by Lower Limb Knee Joint Based on Gait Recognition

To realize compliance control of lower limb-assisted exoskeleton robot, a control method based on human gait recognition is adopted to design the controller. In this paper, force control strategy and position control strategy are adopted respectively in stance phase and swing phase of human walking. Walking experiment shows that, in the stance phase, force output can quickly track the force command and realize the rapid response output of force. And in the swing phase, position control can make the system position output appropriate. In sum, the system has good assistance response characteristics and adaptive cable release control, which meets the expected requirements of the design.