步行训练机器人主动减重控制方法

Active Control of Body Weight for Gait Training Robot

减重步行训练是治疗由神经疾病导致的下肢步行障碍的重要手段之一.步行康复训练中由于患者下肢无法承载自身的重量,难以保持自身的平衡,因此设计可为患者卸载自重,并帮助其保持平衡的减重支撑系统显得尤其重要.对课题组设计的减重支撑系统提出减重控制方法,并构建控制系统,最终通过实验论证其可行性.实验结果表明,该减重控制方法可以满足主动减重控制的要求.

Partial body-weight supported gait training is an important rehabilitation means in curing lower extremity walking drawback resulting from nerve diseases. As the patient is unable to support his/her own body weight and keep the body in balance during the treadmill training, the body weight support system that help the patient reduce the body weight and keep the body in balance is import for rehabilitation equipment. This paper describes a control method for the body weight support system designed in the laboratory, builds a control system and demonstrates its feasibility by experiments. Experimental results show that the proposed method can meet the requirements of the body weight support system.