Dynamics Analysis of the Human-Machine System of the Assistive Gait Training Robot

  • Tao QinEmail author
  • Xin Meng
  • Jinxing Qiu
  • Dingjian Zhu
  • Jianwei Zhang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


In order to help the patients with lower limb dysfunction to complete gait rehabilitation training, a new assistive gait training robot prototype was developed. The dynamics of the human-machine system of the robot was analyzed comprehensively. The theoretical dynamics model of the human-machine system was established by using the Newton-Euler method, and the dynamic simulation model was established by Matlab/SimMechanics toolbox. The loaded dynamics model of gait mechanism was taken as the controlled object, the influence of gait training with different unloading forces and gait speeds on the driving performance of the system were analyzed. The research results verify the correctness of the theoretical dynamic analysis of the human-machine system, and it also provides a reference for the mechanical system optimization of the gait mechanism and the reasonable selection of the drive motors and lays a theoretical foundation for the research on the control method of the human-machine system.


Gait training robot Human-machine system Dynamics Simulation analysis 



This research was supported by Hubei Provincial Natural Science Foundation of China under grant 2018CFB313, and the German Research Foundation(DFG) and the National Science Foundation of China (NSFC)in project Crossmodal Learning under grant TRR-169, and Xiangyang Science and Technology R&D Project, and Hubei Superior and Distinctive Discipline Group of “Mechatronics and Automobiles” under grant XKQ2019002 and XKQ2019053.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tao Qin
    • 1
    • 2
    Email author
  • Xin Meng
    • 1
    • 3
  • Jinxing Qiu
    • 1
  • Dingjian Zhu
    • 1
  • Jianwei Zhang
    • 2
  1. 1.School of Mechanical EngineeringHubei University of Arts and ScienceXiangyangChina
  2. 2.Institute of Technical Aspects of Multimodal Systems (TAMS), Department of InformaticsUniversity of HamburgHamburgGermany
  3. 3.School of Mechanical AutomationWuhan University of Science and TechnologyWuhanChina

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