Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation

In this paper, a master-slave control system is proposed and applied in an intention-actuated exoskeletal robot to assist user locomotion and lower extremity rehabilitation simultaneously. In particular, to increase users’ sense of participation, the motion of the exoskeleton and the wheelchair, which is denoted as slave motion in this study, is actuated by the user’s intention, which is denoted as master motion and thus makes patients feel that they are moving the wheelchair. This master-slave motion control system can help to eliminate patients’ fear of medical apparatus and instruments. The bicycling motion actuated by one motor is implemented to realize the rehabilitation motion exercise. Experimental results validate a position-force control strategy for the exoskeleton motors, and show that the proposed method can help users to move around and to exercise their legs simultaneously and effectively.