Control method for lower -limb rehabilitation robot joint flexibility

Rehabilitation robot is a type of assistant recovery equipment designed particularly for the sick people having difficulty in walking to get gait rehabilitation training, the research on joint flexibility is of great significance for the program making of walking gait control. The three closed-loops PID control method was proposed for the lower-limb rehabilitation robot MACCEPA (mechanically adjustable compliance and controllable equilibrium position actuator) with the flexible joint structure. The simulation model of rehabilitation robot system controller was built by organization system module set (SimMechanics) in the Matlab/Simulink environment. The results of theoretical analysis and simulation experiments show that adapting the three closed-loop PID control method has greatly enhanced the traceability and robustness of this system, which in turn guarantees the efficiency for people in the process of recovery training.