A Novel Double-Rope BWS System for Locomotion Training of Hemiplegic Patients

被引：0

作者：

Sun, Yubo ^{[1
,2
]}

Zhang, Peng ^{[1
,2
]}

Yu, Ningbo ^{[1
,2
]}

机构：

[1] Nankai Univ, Inst Robot & Automat Informat Syst, Haihe Educ Pk, Tianjin 300353, Peoples R China

[2] Nankai Univ, Tianjin Key Lab Intelligent Robot, Haihe Educ Pk, Tianjin 300353, Peoples R China

来源：

2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER) | 2018年

基金：

中国国家自然科学基金;

关键词：

THERAPY; WALKING; STROKE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Locomotion training with partial body weight support (BWS) is a common clinical practice. Terrestrial locomotion is inherently driven by the ground reaction force (GRF), and existing BWS systems that only provide upward support are not optimal for locomotion training of paraplegic patients who also need support in the forward and lateral direction. In this paper, we designed a novel double-rope body weight support system to provide forward and lateral forces along with the support force against gravity. The dynamical models between the ground reaction forces and the BWS unit cable tension forces were analyzed. The control strategy was proposed to achieve accurate control of cable tension forces and deflection angles, and equivalently the three dimensional supportive forces. Through simulations with measured gait data, the efficacy of the proposed BWS system and control strategy were validated.

引用

页码：813 / 817

页数：5