The purpose of this paper is to present a novel mechatronic system for gait re-education which consists of a body weight support system (BWS system) and a treadmill. This publication covers mainly issues related to the design and optimization process of a control algorithm dedicated for the unloading system. The proposed control system is based on a fuzzy logic controller coupled with a PID regulator. The optimization of parameters for regulators has been conducted based on numerical simulations in which a hybrid optimization method combining a genetic algorithm with a gradient algorithm has been used. The developed control system has been tested experimentally.
This paper describes a test stand for determining the kinematic excitation originating from the contact between a vehicle’s wheel and the ground, thus acting on the single suspension upright of the vehicle. This excitation is unique to the movement of omnidirectional wheels and originates from the irregular envelope of the wheel. The presented attitude enables the vertical displacement of the wheel’s axis rolling on a horizontal surface to be determined. This work includes experimental results considering different wheel orientations against the direction of movement.
Different types of devices, from the simplest (medical walkers) to the most technologically advanced ones (mechatronic devices), are widely used to support the rehabilitation process for people who suffered strokes or have other disabilities—especially to enhance their mobility. This article presents a new mechatronic system for gait reeducation, which consists of two main components: training treadmill and body weight support system. The device is also equipped with sensors for measuring the rope inclination angle, rope tension and foot pressure on the ground. The transmission of measurement and control signals between the computer with control system and the electromechanical part of the device is realized by means of three real-time boards. This publication covers certain issues related to the device design process, integration of the main components, as well as the description of the developed treadmill speed adaptation algorithm and experimental verification of such control system. The speed of treadmill belt is adjusted by a feedback loop with a rope inclination angle measurement. Because of the kind of the connection of the treadmill (the control signals are sent to the buttons in the treadmill control panel) and related limitations, a proper conversion of the control signal was required, from a continuous one to a digital square wave signal with variable period. Developing an optimal treadmill speed control algorithm in this case was an interesting engineering challenge.
The article presents one of the concepts of the performance of keeping up the movement of a gantry behind the load. For reaching this solution, a PID controller has been applied. The worked out control algorithm has been implemented and tested employing a 3D Crane 3D. The results of experimental research have been compared with the findings of numerical simulations.
This paper presents a novel mechatronic device to support a gait reeducation process. The conceptual works were done by the interdisciplinary design team. This collaboration allowed to perform a device that would connect the current findings in the fields of biomechanics and mechatronics. In the first part of the article shown a construction of the device which is based on the structure of an overhead travelling crane. The rest of the article contains the issues related to machine control system. In the prototype, the control of drive system is conducted by means of two RT-DAC4/PCI real time cards connected with a signal conditioning interface. Authors present the developed control algorithms and optimization process of the controller settings values. The summary contains a comparison of some numerical simulation results and experimental data from the sensors mounted on the device. The measurement data were obtained during the gait of a healthy person.
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