Realization and experimental test of a body weight support unit for simultaneous position tracking and gravity offloading

Yang, Zhuo; Sun, Yubo; Yue, Lei; Wang, Zhe; Zou, Wulin; Yu, Ningbo

doi:10.1109/robio.2016.7866466

Cited by 9 publications

(2 citation statements)

References 16 publications

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“…The series elastic actuation (SEA) structure [8], which transforms force control into displacement control, makes it possible to realize high quality gravity offloading without the need of a force sensor. This provides a more convenient way for accurate BWS force control, and we have realized a body weight support system with cabledriven SEA in our previous work [9]- [11].…”

Section: Introductionmentioning

confidence: 99%

“…However, we are confronted with control challenges with our cable-driven SEA based body weight support system. Conventional PID method did not suffice our requirement for accurate and fast force control when the position is altered by the subject during walking [11]. Accurate modeling of the system brought in nonlinearities, and the resulted nonlinear controllers are heavily model-dependent, making it difficult to achieve robustness [10].…”

Section: Introductionmentioning

confidence: 99%

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Real-Time Force Control of an SEA-Based Body Weight Support Unit with the 2-DOF Control Structure

Sun

Yue

Zou

et al. 2018

2018 IEEE International Conference on Real-Time Computing and Robotics (RCAR)

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Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in recent years. We have built up a novel gravity offloading system, in which the patient is allowed to move freely in the three-dimensional Cartesian space and receives support against gravity. Thus, the patients, especially for those that suffer from neurological injury such as stroke or spinal cord injury, can focus their residual motor control capabilities on essential therapeutic trainings of balance and gait. The realtime force control performance is critical for the BWS unit to provide suitable support and avoid disturbance. In this work, we have re-designed our BWS unit with a series elastic actuation structure to improve the human-robot interaction performance. Further, the 2 degrees of freedom (2-DOF) control approach was taken for accurate and robust BWS force control. Both simulation and experimental results have validated the efficacy of the BWS design and real-time control methods.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%