Adaptive human-like control system design of a lower limb robot using minimum inertial parameters

Medical studies have shown that appropriate repetitive rehabilitation exercise training can help them realize the recombination of brain nerve function while patients receive drug therapy, so that patients can gradually recover the ability to walk independently,1–2 which not only improves the quality of life of patients but also greatly reduces family and social pressure. Traditional rehabilitation therapists mainly rely on clinical experience to conduct a gait analysis of patients. Although the method is simple, it can only do rough qualitative analysis. Due to lack the accurate, quantitative and controllable data support, it is difficult to ensure the scientificity and effectiveness of patients’ rehabilitation training.