Training Path Optimization Method of a Moveable Multifunction Rehabilitation Robot

Passive path tracking training is usually used for robot assisted lower limb rehabilitation. The movement of will cause the fluctuation joint force. This letter presents an optimal planning algorithm to reduce patient's force caused by a moveable multifunction rehabilitation during passive pedaling training. dynamics model human-robot system established, and forces patient are analysed. process divided into series motion steps based on original path, at which applied search best path. Then, fitted Bezier curve get closed trajectory. Finally, Bionic Experiment Platform (BEP) Human-robot Interaction (HIP) established verify effectiveness algorithm. experimental results show that knee drops average 12.71%, maximum 15.41%.The HIP experiment interaction 8.5%.