自动化学报2016，Vol.42Issue(12)：1819-1831,13.DOI:10.16383/j.aas.2016.c160215
一种面向步态和平衡康复训练的单绳悬吊主动减重系统设计与控制方法研究
Design and Control of An Active Gravity Offloading System for Rehabilitation Training of Gait and Balance
摘要
Abstract
Gait training with body weight support (BWS) is an effective rehabilitation therapy for patients with neural disorders and locomotion difficulties. For medium and mild patients, walking with BWS may encourage their active participations into locomotion training and balance control to improved functional recovery. However, current BWS technologies suffer from problems of limited movement space, force inaccuracy, undesired lateral force, etc. In this work, we propose an active gravity offloading system for gait and balance training. The BWS force is provided with a single rope suspension. In the horizontal X-Y plane, the servo unit moves the BWS unit to follow the motion of the patient and keeps the rope perpendicular to the ground so that no lateral force is produced to disturb the patient. In the vertical direction, since there is only one control degree of freedom for position following in Z-direction and suspension force control along the cable the BWS is designed with a cable-driven series elastic actuation structure, which couples the force and displacement along the rope. To deal with nonlinearities, friction and uncertainties in the system, the sliding mode control method is taken for the rope deflection angle controller and force controller. Further, to keep the system running inside a safety boundary, another position controller is designed for the moving plate that connects with the spring in the BWS unit. With extensive simulations experiments, feasibility and efficacy of the active gravity offloading system are validated. This system promises an effective rehabilitation platform for patients with locomotion difficulties.关键词
康复训练/主动减重/绳驱动/串联弹性驱动/滑模控制Key words
Rehabilitation/active gravity offloading/cable actuation/series elastic actuation/sliding mode control引用本文复制引用
于宁波,杨卓,孙玉波,邹武林,王喆..一种面向步态和平衡康复训练的单绳悬吊主动减重系统设计与控制方法研究[J].自动化学报,2016,42(12):1819-1831,13.基金项目
国家自然科学基金(61403215),中央高校基本科研业务费,天津市自然科学基金(13JCYBJC36600)资助Supported by National Natural Science Foundation of China (61403215), Fundamental Research Funds for the Central Uni-versities and Natural Science Foundation of Tianjin (13JCY-BJC36600) （61403215）
