Design and control of an active gait trainer

Fu Cheng Wang*, Chung Huang Yu, Tai Yu Chou, Nai Chung Chang

*此作品的通信作者

研究成果: Conference contribution同行評審

7 引文 斯高帕斯(Scopus)

摘要

This paper demonstrates the design and control of an active gait trainer for children with walking disabilities. Compared to the traditional rehabilitation procedures in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. The work was carried out in four steps. First, a six-bar mechanism was designed to mimic the preferred trace of ankle joints. Second, system identification techniques were applied to obtain the system transfer functions. Third, robust control algorithms were used to design H robust controllers to follow the traces. Finally, the designed controllers were implemented for performance verification. Based on the simulations and experimental results, the proposed mechanism and control are deemed effective.

原文English
主出版物標題Proceedings - IEEE ISIE 2009, IEEE International Symposium on Industrial Electronics
頁面1779-1784
頁數6
DOIs
出版狀態Published - 2009
事件IEEE International Symposium on Industrial Electronics, IEEE ISIE 2009 - Seoul, Korea, Republic of
持續時間: 5 7月 20098 7月 2009

出版系列

名字IEEE International Symposium on Industrial Electronics

Conference

ConferenceIEEE International Symposium on Industrial Electronics, IEEE ISIE 2009
國家/地區Korea, Republic of
城市Seoul
期間5/07/098/07/09

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