To help rehabilitation of patients with lower limb dysfunction, a sitting/lying exoskeleton robot is designed for lower limb rehabilitation. Firstly, a coupling kinematics/dynamics model, including the wearer and exoskeleton, is established by the in-depth analysis of human-machine coupling relationship, and the prototype structure is introduced. Furthermore, according to the kinetic parameter identification method, an estimation method of active joint torque of human lower limbs is proposed to realize the prediction of human motion intention, which is the basis of the reference motion trajectory. Moreover, a reference trajectory adaptive compliance control algorithm is proposed. Finally, the human-computer interaction force is measured by the torque sensor, the effectiveness of the parameter identification and compliance control algorithm is verified.

为了帮助下肢功能障碍的患者康复，设计了一个坐卧式外骨骼机器人来进行下肢康复。首先，通过对人机耦合关系的深入分析，建立了包括穿着者和外骨骼在内的运动学/动力学耦合模型，并介绍了原型结构。此外，根据动力学参数辨识方法，提出了一种人体下肢主动关节扭矩的估计方法，以实现人体运动意图的预测，这是参考运动轨迹的基础。此外，提出了一种参考轨迹自适应顺应性控制算法。最后，通过扭矩传感器测量人机交互力，