Dynamic analysis and control of a hybrid lower limb rehabilitation robot to reduce human-robot interaction forces.

This study presents a model of cooperation between two planar manipulators including an orthosis and a programmable plate in form of a hybrid lower limb rehabilitation robot, which was designed and built at the University of Guilan. The aims of cooperation are to distribute the power required to move between the cooperative manipulators and also reduce the interaction forces between orthosis and leg. The cooperation is performed with two modes using the adjustment of the plate forces, a constant force in the vertical direction (CFV) and variant force proportional to orthosis torque (VFPOT). Kinematic and dynamic analysis of the hybrid lower limb rehabilitation robot and its control are also discussed in this study. The performance and effectiveness of the proposed hybrid robot are demonstrated on a healthy person in real-time. Each walking trial lasted 60 s and repeated 20 times for every mode. The walking speed was considered to be 1.5 km/h and weight compensator was adjusted with a constant weight unloading level of 70%. The results show that the VFPOT mode leads to a 45% reduction in the driving torque of the hip and knee joints compared to orthosis-only. This reduction is expected to reduce interaction force at the connection straps. So, it provides more patient comfort and safety, which can be effective in improving the time and process of rehabilitation.