A lower limb connecting rod model and force sensing information-based method for controlling a virtual scenario interactive rehabilitation training robot, comprising: equating a human leg to a three-connecting rod series-connected mechanical arm to construct a human leg gravity compensation model, detecting the leg posture of a patient by means of Kinect, detecting an interactive force between a limb of the patient and a rehabilitation robot by means of a force sensor on the rehabilitation robot; designing a progressive rehabilitation training method for the model, and according to a configured weight reduction ratio, controlling the movement of the rehabilitation robot by means of determining foot force data.
LOWER LIMB CONNECTING ROD MODEL AND FORCE SENSING INFORMATION-BASED METHOD FOR CONTROLLING VIRTUAL SCENARIO INTERACTIVE REHABILITATION TRAINING ROBOT