5-Link model based gait trajectory adaption control strategies of the gait rehabilitation exoskeleton for post-stroke patients

Many 4-DOF exoskeleton type robot devices have been widely developed for the gait rehabilitation of post-stroke patients. However, most systems run with purely position control not allowing voluntary active movements of the subject. The lack of intelligent control strategies for variable gait patterns has been a clinical concern of such kind exoskeleton man–machine systems. In this work, we establish a 5-link model for the usual 4-DOF gait rehabilitation exoskeleton type man–machine system and propose a gait trajectory adaption control strategy. A 4-DOF gait rehabilitation exoskeleton prototype is developed as a platform for the evaluation of design concepts and control strategies in the view of improved physical human–robot interaction. The experimental results with eight healthy volunteers and three stroke patients are encouraging.