步行训练机器人主动减重控制方法  

Active Control of Body Weight for Gait Training Robot

作　　者：方彬[1] 沈林勇[1] 章亚男[1] 钱晋武[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《上海大学学报（自然科学版）》2011年第6期719-723,共5页Journal of Shanghai University:Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA04Z224);国家自然科学基金资助项目(50975165);上海大学研究生创新基金资助项目(A.16-0109-09-749)

摘　　要：减重步行训练是治疗由神经疾病导致的下肢步行障碍的重要手段之一.步行康复训练中由于患者下肢无法承载自身的重量,难以保持自身的平衡,因此设计可为患者卸载自重,并帮助其保持平衡的减重支撑系统显得尤其重要.对课题组设计的减重支撑系统提出减重控制方法,并构建控制系统,最终通过实验论证其可行性.实验结果表明,该减重控制方法可以满足主动减重控制的要求.Partial body-weight supported gait training is an important rehabilitation means in curing lower extremity walking drawback resulting from nerve diseases. As the patient is unable to support his/her own body weight and keep the body in balance during the treadmill training, the body weight support system that help the patient reduce the body weight and keep the body in balance is import for rehabilitation equipment. This paper describes a control method for the body weight support system designed in the laboratory, builds a control system and demonstrates its feasibility by experiments. Experimental results show that the proposed method can meet the requirements of the body weight support system.

关 键 词：步行训练机器人 减重支撑系统 步行训练 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]