Hip–Knee–Ankle Rehabilitation Exoskeleton With Compliant Actuators: From Human–Robot Interaction Control to Clinical Evaluation

While rehabilitation exoskeletons have been extensively studied, systematic design principles for effectively addressing heterogeneous bilateral locomotion in hemiplegia patients are poorly understood. In this article, a multijoint lower exoskeleton driven by series elastic actuators (SEAs) is developed, and the design philosophy of rehabilitation robots for hemiplegia patients is systematically explored. The exoskeleton has six powered joints for both lower limbs in a hip–knee–ankle configuration, and each joint incorporates a custom, lightweight SEA module. A unified interaction-oriented control framework is designed for exoskeleton-assisted walking, including gait generation, task scheduling, and advanced joint-level control. The closed-loop design provides methodical solutions to address hemiplegia rehabilitation needs and provides walking assistance for bilateral lower limbs. Moreover, a multitemplate gait generation approach is proposed to address the altered kinematics induced by exoskeleton-assisted walking and enhance the exoskeleton's adaptability to patient-specific kinematic variations in an iterative manner. Experiments are conducted with both healthy individuals and hemiplegia patients to verify the effectiveness of the exoskeleton system. The clinical outcomes demonstrate that the exoskeleton can achieve mechanical transparency, facilitate movement, and enable coordinated interjoint locomotion for bilateral gait assistance.