While human-robot interaction compliance has been advanced in studies on lower limb exoskeleton rehabilitation robots, a satisfactory solution to balancing the standardization of rehabilitation goals and the autonomy of user motion remains lacking. This paper proposes a long short-term memory neural network model based on an improved sparrow search algorithm (ISSA-LSTM) and a bilayer adaptive admittance framework based on fuzzy logic. Key electromyographic (EMG) signals of the lower limb muscles, human-robot interaction forces, and motion signals from the exoskeleton joint actuators are fused into an advanced controller integrated with a fuzzy adaptive admittance model, which is used to adjust the human-robot synergy performance during rehabilitation training. A low-order controller is designed using the backstepping method to ensure position control accuracy, and systematic uncertainties are compensated for through a state observer. The effectiveness of the proposed method was validated through trajectory tracking experiments and wearing experiments conducted on healthy participants. Results demonstrate that the proposed control method enables the rehabilitation robot to exhibit superior compliance and human-robot synergy effects, laying a solid foundation for its clinical application in stroke patients.
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