The design of a controller is one of the key tasks and major difficulties in the development of rehabilitation exoskeletons. An algorithm about an adaptive gait trajectory based on the iterative learning control for lower extremity rehabilitation exoskeleton is proposed in this paper. First of all, dynamic model is built up based on the Lagrange equations for the lower extremity rehabilitation exoskeleton. Secondly, an adaptive gait trajectory based on the iterative learning controller is put forward to achieve the active mode of patients. Finally, a simulation experiment is conducted in MATLAB based on the standard gait data which were collected by an optical motion capture system. The simulation results show that the control algorithm can achieve the desired adaptive tracking for joint trajectory and enable patients' active participation in rehabilitation.
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