下肢康复机器人减重支撑系统的研究

Research of the BWS system for lower extremity rehabilitation robot

为了在减重步行训练中实现自主控制的减重支撑,设计了一种绳牵引式的减重支撑系统,完成了动力学建模,并采用力控制方式实现了减重力的恒定,通过Simulink对控制系统进行了仿真。仿真结果表明,该减重支撑系统输出减重力动态响应快、稳态误差小,体现了主动控制的优越性,并为进一步进行交流伺服控制平台的搭建奠定了基础。

Aiming at realizing a self-control partial body-weight support （BWS） system, a Cable-driven BWS system was de- signed, the dynamic model was accomplished, and the force control system was developed to keep the weight force constant. The simulation e^peritnents were developed to demonstrates the feasibility of the BWS system. The test results indicate that the system has fast response and small error, which demonstrates the benefits of the actively controlled system, and lays the foundation for the futher more achievement of AC servo control platform.