Active stroke lower limb rehabilitation robot control method based on healthy side and affected side coupling

The invention relates to an active stroke lower limb rehabilitation robot control method based on healthy side and affected side coupling. The method comprises the following steps that: a characteristic pathological gait correction strategy based on a characteristic pathological gait model is formulated; after the limbs of the patient begin to move, multi-sensor signals of the lower limbs of the healthy side of the patient are collected, and multi-sensor signal processing is conducted; constructing of a multi-sensor information fusion vector is carried out; the motion intention of the patientis acquired; the motion intention and the characteristic pathological gait correction strategy are coupled to obtain healthy side-affected side coupling information, and the healthy side-affected sidecoupling information is transmitted to a human body-rehabilitation robot closed-loop controller, so that the system function of the rehabilitation robot is controlled, and man-machine coordinated operation is guaranteed. Acco