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Introduction: Patients suffering from limb movement disorders require more complete rehabilitation treatment, and there is a huge demand for rehabilitation exoskeleton robots. Flexible and reliable motion control of exoskeleton robots is very important for patient rehabilitation. Methods: This paper proposes a novel exoskeleton robotic system for lower limb rehabilitation. The designed lower limb rehabilitation exoskeleton robot mechanism is mainly composed of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism. The forces and motion of the exoskeleton robot were analyzed in detail to determine its design parameters. The robot control system was developed to implement closed-loop position control and trajectory planning control of each joint mechanism. Results: Multiple experiments and tests were carried out to verify robot's performance and practicality. In the robot angular response experiments, the joint mechanism could quickly adjust to different desired angles, including 15°, 30°, 45°, and 60°. In the trajectory tracking experiments, the exoskeleton robot could complete trackingmovements of typical actions such as walking, standing up, sitting down, go upstairs and go downstairs, with a maximum tracking error of ±5°C. Robotic wearing tests on normal people were performed to verify the assistive effects of the lower limb rehabilitation exoskeleton at different stages. Discussion: The experimental results indicated that the exoskeleton robot has excellent reliability and practicality. The application of this exoskeleton robotic system will help paralyzed patients perform some daily movements and sports. [ABSTRACT FROM AUTHOR]

This document is an editorial published in Frontiers in Neuroscience titled "Human-in-the-loop system design and control adaptation for behavior-assistant robots." The editorial discusses the coordination between humans, robots, and environments in the field of behavior-assistant robots, such as rehabilitation robots and homecare robots. It highlights the importance of human-in-the-loop control architecture for effective operation of behavior-assistant robots. The editorial also mentions various studies and advancements in the field, including the use of surface electromyography (sEMG) and pressure sensors for wheelchair user sitting posture improvement, the development of lower limb rehabilitation robots for stroke or spinal cord injury patients, and the integration of fault-tolerance control and neural supervised loop for safe human-robot interaction. The document emphasizes the challenges and potential applications of human-in-the-loop systems in the field of robotics and rehabilitation. [Extracted from the article]