Fundamental study of force control method for pelvis-supporting body weight support system
Fundamental study of force control method for pelvis-supporting body weight support system
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骨盆支撑体重支撑系统力控制方法基础研究
DOI：
10.1109/robio.2009.4913206
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
M. Fujie
中科院分区：
文献类型：
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作者：
Takao Watanabe;Eiichi Ohki;Takeshi Ando;M. Fujie
开发了一种主动体重支持(BWS)系统，该系统通过骨盆支撑来卸载体重，以帮助步行运动。该系统使用电动装置从下方卸载体重，并带有骨盆支撑，不同于目前流行的BWS系统，该系统通过连接到电线的线束从上方提起受试者。卸载体重的力控制方法还没有得到充分的研究。作为第一步，进行了正常步行和使用所开发的BWS机构的步行的对比研究，以确定力控制方法。由于精确和恒定的卸载力被认为是BWS步态治疗的重要前提，因此设置不同的恒定卸载力作为目标卸载力。目标卸载力在100(N)~300(N)之间变化，观察不同力之间的差异。测得的卸载力不是完全恒定的，而是波动的。在起重过程中，马达产生了200(N)以上的延迟。结果表明，目标卸载力减小了楼板反力。然而，在地板反力的双峰形状和骶骨垂直位置的轨迹上发现了一些不同。结果表明，通过改善跟随性和调整目标速度来抑制卸载力波动是必要的。进一步进行精确的力控制，实现恒定卸载力。
An active body weight support (BWS) system, which unloads body weight with pelvic support, has been developed to assist the walking movement. This system unloads body weight with a motor-actuated device from below with pelvic support, unlike prevailing BWS systems that lift up the subject from above via a harness connected to a wire. The force control method to unload body weight has not been sufficiently studied. As a first step, a comparison study between normal walking and walking with the developed BWS mechanism was conducted to specify the force control method. Since the precise and constant unloading force is believed to be an important prerequisite for BWS gait therapy, different constant unloading forces were set as the target unloading force. The target unloading force was varied from 100 (N) to 300 (N) to observe the difference among forces. The measured unloading forces were not completely constant but fluctuated. The motor introduced a delay at over 200 (N) during lifting. As a result, the floor reaction force was reduced by the target unloading force. However, some differences were found in the bimodal shape of the floor reaction force and the trajectory of the sacrum's vertical position. The results showed the necessity of damping the fluctuation of unloading force by improving following characteristics and adjusting target velocity. Further precise force control will be carried out to realize constant unloading force.