Research on gait rehabilitation training robot driven by pneumatic actuators
In this paper, a new type of gait rehabilitation training robot driven by pneumatic actuators is designed, which can guide the patient legs to move in a preprogrammed gait pattern on the special treadmill. The cylinder position is controlled by regulating high-speed on-off valves duty with PWM. The target gait trajectory is tracked by the coordinating movements of all joints. By using the simulation software the human walking gait cycle is analyzed. The gait tracking experiments are also tested with the special control strategies. The feasibility and effectiveness of the proposed gait rehabilitation robot is confirmed by the experimental results.
Walking gait Rehabilitation training robot Pneumatic drive PWM Trajectory tracking
Jianhai Han Xiangpan Li Shushang Zhao
School of Mechatronics Engineering, Henan University of Science & Technology, Luoyang, China
国际会议
杭州
英文
634-637
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）