Abstract: In order to ensure that ankle rehabilitation robot can accurately supply arbitrary characteristic training force for patient during active training, the pneumatic muscle redundant parallel driving ankle rehabilitation robot was taken as research objects, the zero error force tracking method and the compliance control strategy for active training were researched. The dynamics model of the ankle rehabilitation robot were set up, based on the impedance control theory, the trajectory planning method for the zero error force tracking was researched, and based on the Lyapunov’s stability theory, the pneumatic muscle redundant parallel driving compliance control strategy was proposed. Rehabilitation training control simulations for the two active training modes including assistance training and resistance training were carried out, and the results show that the robot with the force tracking method and the compliance control strategy can not only ensure training security, but also supply accurate assistance force and resistance force for active ankle rehabilitation training.

Key words: ankle rehabilitation robot, active rehabilitation training, force tracking, compliance control, pneumatic muscle