抄録
Abstract: Body weight supported (BWS) gait rehabilitation was introduced in year 1987. This method provides a safe environment for gait rehabilitation. However, the trade off of this method is the restriction of pelvic motion, restriction of body weight shifting, non-optimized weight bearing on lower limb, and the lack of interaction between patient and the system. A robotic mechanism is designed to provide natural pelvic motion, with capability of active body weight support. Body weight support control strategy for the robotic mechanism is introduced in this paper, which aims to address the issues faced in conventional BWS apparatus. The control strategy allows the motion of the patient to deviate from the desired trajectory, allowing more active participation of the patient. BWS force will be increased in accordance to the extent of the deviantion between the patient's trajectory and desired trajectory. Experimental setup is built to verify the robustness and response of the proposed controller. The experimental results show that the control strategy is able to achieve the objective of this wor k. The details of the experiments and results are presented at the end of this paper.
