Control Methods of Walk Training System

抄録

Ambulatory capability results in overall improvement of ability of daily life(ADL)of the elderly. Technical aid of walking ability is a basic solution for an elderly society. The number of the aged in bed will decrease. Walk Training System for the elderly is now under development. It has two parts:a training environment and a patient-support element. The training environment comprises a treadmill and a display. The trainee stands on the treadmill and begins to walk. The belt of the treadmill is driven by active impedance control. The trainee is supported by a two-degree-of-freedom manipulator. The force on the support is determined by the displacement of the trainee from the reference point, so as to correct the posture of the trainee or to support the trainee's weight. The Walk Training System was tested on 30 persons, and its basic function was highly rated.