Abstract
The body weight support walking training robot is a rehabilitation device used to improve the basic walking ability of the lower limbs of patients with movement disorders. In this paper, a BWS (Body weight support) system based on the principle of a series elastic actuator is designed to achieve structural passive compliance. Then the overall model and dynamic equation of the system are established. Aiming at the precision error caused by instability of weight reduction control, aging of elastomer, and various damping friction, this paper proposes a variable parameter class admittance control strategy based on the BWS system model to realize dynamic weight reduction and compensation weight reduction control effect. Finally, based on the established mathematical model, the simulation is carried out in Simulink. The maximum error of walking weight reduction is less than 5 N, which proves the effectiveness of the control strategy. At present, a preliminary experimental platform has been built, which can provide a convenient and efficient rehabilitation training method for patients with lower limb movement disorders in the future.
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Acknowledgment
This work was supported by the Science and technology plan project of Xi’an city (Grant no. 21XJZZ0079) and the Innovation and Entrepreneurship Foundation of Northwestern Polytechnical University Party Committee Student Work Department (Grant No. 2023-cxcy-021).
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Li, X., Zhang, W., Liu, X., Zhang, P., Wang, W. (2023). Design and Variable Parameter Control Strategy of Weight Support Gait Training Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_49
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DOI: https://doi.org/10.1007/978-981-99-6498-7_49
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