Design and implementation of robust controllers for a gait trainer

F. C. Wang*, C. H. Yu, T. Y. Chou

*此作品的通信作者

研究成果: Article同行評審

10 引文 斯高帕斯(Scopus)

摘要

This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with 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. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design H robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.

原文English
頁(從 - 到)687-696
頁數10
期刊Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine
223
發行號6
DOIs
出版狀態Published - 2009

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