Research on Driven Function Experiment for Rigid-Flexible Lower Limb Rehabilitation Robot

Considering of the function requirement of the lower limb rehabilitation robot to achieve corrective walking, a mode of robot was proposed and a model machine was developed. Based on the control objective of according walking training, expected hip and knee angles and the load needed in strength training, the driving force on wires produced by the robot was calculated by giving known force on wire 1 to determine the other wires. A tension sensor calibration was done on the robot. And two wire driven function experiments were done under different condition based on it. It was indicated that the control system of the model machine was able to meet the required stability and controllability, and the accuracy and response rate of the wire output force were up to the control demand of rehabilitation training. The paper has a great significance on servo control of wire-driven parallel robot.