Discussion of sling control simulation in feedback type Gait Training System

Abstract

Our developing Gait Training System is the training device that tries to obtain the effect similar to the walk training in the warm water swimming pool. A train patient is slung and supported by the slinging system. They walk the force plate top. Slinging it up power is controlled on the basis of the information from the force plates. In this paper, we compare current control system with PID control system. In control simulation, effect of delay time is discussed.

Development of visual information function in reaction force feedback type Gait Training System

“…Fig.19 shows an example of old system experiment for comparison. Experiments of old system was reported by reference [8] and [9] and its condition was about the same.…”

“…In previous reports [5]- [9] , sling system was composed by ball screw or wire system. However, these actuator systems don't have enough linear characteristics, and precision control wasn't achieved.…”

“…So we conducted experiments to slinging system identification and estimate model parameter from experiment results, and we developed the simulation of sling system. Moreover, the model of Gait Training System that include human was proposed and application of control system design is considered [8], [9] .…”