Coordinated control strategy for robotic-assisted gait training with partial body weight support

作     者：秦涛 张立勋 QIN Tao;ZHANG Li-xun

作者机构：College of Mechanical and Electrical Engineering Harbin Engineering University 

基　　金：Project(61175128) supported by the National Natural Science Foundation of China Project(2008AA040203) supported by the National High Technology Research and Development Program of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2015年第22卷第8期

页      码：2954-2962页

摘      要：Walking is the most basic and essential part of the activities of daily living. To enable the elderly and non-ambulatory gait-impaired patients, the repetitive practice of this task, a novel gait training robot(GTR) was designed followed the end-effector principle, and an active partial body weight support(PBWS) system was introduced to facilitate successful gait training. For successful establishment of a walking gait on the GTR with PBWS, the motion laws of the GTR were planned to enable the phase distribution relationships of the cycle step, and the center of gravity(COG) trajectory of the human body during gait training on the GTR was measured. A coordinated control strategy was proposed based on the impedance control principle. A robotic prototype was developed as a platform for evaluating the design concepts and control strategies. Preliminary gait training with a healthy subject was implemented by the robotic-assisted gait training system and the experimental results are encouraging.

主 题 词：robotic-assisted gait training gait training robot (GTR) partial body weight support (PBWS) center of gravity (COG) coordinated control strategy ground reaction force (GRF) 

学科分类：0810[工学-土木类] 080802[080802] 0808[工学-自动化类] 0806[工学-电气类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0703[理学-化学类] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1007/s11771-015-2831-0

馆 藏 号：203296766...