With the widespread development of leg exoskeletons to provide external force-based repetitive training for gait rehabilitation, the prospect of undesired movement adaptation due to applied forces and imposed constraints require adequate investigation. A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human–robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human–CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human–CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.

中文翻译：

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用于有效人机交互的电缆驱动腿外骨骼的刚度调制

随着腿部外骨骼的广泛发展，为步态康复提供基于外力的重复训练，由于施加的力和施加的限制而导致的不希望的运动适应的前景需要进行充分的调查。电缆驱动的腿外骨骼 CDLE 提供了一种轻量级、灵活和冗余驱动的架构，可以通过调节系统参数来改变人机交互，同时施加所需的力。在这项工作中，制定了 CDLE 的多关节刚度性能，以系统地分析人与 CDLE 的相互作用。此外，还提出了 CDLE 架构的潜在改变，以调整人与 CDLE 的交互，从而在步态康复范式中促进所需的人体腿部运动。