中文摘要：

为了实现步行康复训练机器人的协调控制,对外骨骼助行腿与跑步机的协调控制以及减重支撑系统与外骨骼助行腿的协调控制,提出了协调控制方法。最后用假人代替真实患者通过实验验证了外骨骼助行腿、跑步机和减重支撑系统之间的协调控制效果。实验结果表明,步行康复训练机器人能够很好的对假人进行减重步行康复训练,外骨骼助行腿、跑步机和减重支撑系统很好地实现了协调控制,同时为进一步对真实患者进行实验研究奠定了很好的基础。

英文摘要：

Aiming at realizing the coordination control of gait rehabilitation training robot,the coordination control method was proposed,including the coordination control of exoskeleton leg with treadmill and the coordination control of body weight support system with exoskeleton legs.At last the coordination control effect among exoskeleton legs,treadmill and body weight support system was proved by using dummy for experiments.The experimental result shows that the gait training rehabilitation robot can realize good partial body-weight supported gait training for dummy,which demonstrates a good coordination control effect among exoskeleton legs,treadmill and body weight support system,and lays the good foundation for further experiment with real patients.