A double-end lower limb rehabilitation robot is introduced in the paper, which can realize the rehabilitation training of the abduction and abduction, internal rotation and external rotation of human lower limb. The kinematics and dynamics of the robot are analyzed. Based on the motion trajectory planning of the lower limb rehabilitation robot, the motion state and dynamic state of the cable are analyzed. In order to realize the good remote cooperative control between the rehabilitation physician terminal and the patient rehabilitation terminal, the bilateral PD control method and the patient terminal force feedback control method based on the absolute stability theory are analyzed by using the dual-port network model. The simulation results show that the performance of the patient terminal force feedback control method is excellent when the force on the moving platform and the external interference force are changed suddenly. The mapping model of double-ended mechanism is established in the SimMechanics. The simulation results show that the mapping model of double-ended mechanism has a good position tracking ability and their workspaces can meet the requirements of trajectory mapping. The remote collaborative rehabilitation training experiment was done on the established experimental platform. The experimental result shows that the experiment system has a good tracking performance under the guidance of the patient terminal force feedback control method. The feasibility and operability of the remote rehabilitation cooperation technology are verified.

介绍了一种双端下肢康复机器人，可实现人体下肢外展外展、内旋和外旋的康复训练。分析了机器人的运动学和动力学。基于下肢康复机器人的运动轨迹规划，分析了线缆的运动状态和动态状态。为实现康复医师终端与患者康复终端之间良好的远程协同控制，利用双端口网络模型分析了基于绝对稳定理论的双边PD控制方法和患者终端力反馈控制方法。仿真结果表明，当移动平台上的力和外部干扰力发生突变时，患者终端力反馈控制方法的性能优异。在SimMechanics中建立了双端机构的映射模型。仿真结果表明，双端机构映射模型具有良好的位置跟踪能力，工作空间满足轨迹映射要求。在建立的实验平台上进行远程协同康复训练实验。实验结果表明，该实验系统在患者终端力反馈控制方法的指导下具有良好的跟踪性能。验证了远程康复协作技术的可行性和可操作性。