Supporting Force Control of Walking Training Robots

• 영문명: Supporting Force Control of Walking Training Robots
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Seungho Kim Hocheol Shin Seung-Ho Jung Ju-Jang Lee Bong-Ok Kim
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.3 No.3, 2~7쪽, 전체 6쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2002.10.01

영문 초록

  This paper presents two methods of body weight support of walking training robots. Recently a variety of walking rehabilitation technologies have been proposed in an attempt to develop effective and safe walking training methods. The proposed walking training robots are designed to unload body weight during standing or walking. The walking training robots consist of an unloading manipulator and a mobile platform. The manipulator is mounted on top of the mobile platform. Two types of manipulators are developed. One has an electro-mechanical linear mechanism which has good dynamic performance. The other has two pneumatic actuators which is safer than the first system. The mobile platform is a wheel type to follow and lead patients, which provide an unconstrained walking condition. A sliding mode controller for the electro-mechanical manipulator and a fuzzy controller for the pneumatic one are designed to unload a patient"s body weight. Supporting control performances are demonstrated by experiments.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. WALKING TRAINING ROBOT SYSTEM
Ⅲ. SYSTEM MODELING OF A ELECTRO-MECHANICAL MANIPULATOR
Ⅳ. CONTROLLER DESIGN
Ⅴ. RESULTS AND DISCUSSIONS
Ⅵ. SUMMARY
ACKNOWLEDGEMENTS
REFERENCES

키워드

Walking training robot force control electro-mechanical linear mechanism pneumatic actuator sliding mode control fuzzy control