Motion planning and control strategy of a cable-driven body weight support gait training robot
Tao Qin,
Qianpeng Wang,
Wei Su
et al.
Abstract:Abstract. In this paper, a cable-driven body weight support gait training robot (C-BWSGTR) that provides patients with partial body weight support as well as a kind of stable gait training driving force was
designed; this device enabled those patients to walk again. Firstly, the overall
configuration of the C-BWSGTR was determined, and the structural
composition and working principle of the robot were established. Secondly, the
vector algebra method was applied to carry out the kinematic analysis and
establish… Show more
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