Abstract
This research is concerned with the rehabilitation robot of legs intended for the patient who got a hemiplegia of body for stroke. Authors developed a new rehabilitation robot of legs that enabled the active motions in addition to the passive motions by using the linear motor with the property of the back drive ability. The position control and the impedance control were implemented on the rehabilitation robot that developed, and the response experiment to the target behavior was done. The measurement experiment of the legs impedance was conducted by using the rehabilitation robot that developed, and the experimental result was verified.
