会议专题

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

The Seventh International Conference on Fluid Power Transmission and Control(第七届流体传动与控制国际学术会议 ICFP 2009))

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)