步态训练器的同步鲁棒控制

Fu-Cheng Wang, Chung-Huang Yu, Chia-Hui Chen, Tai-Yu Chou, Chen-En Tsai
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引用次数: 1

摘要

提出了一种主动步态训练器的同步鲁棒控制方法。设计了一种由连杆机构和马达组成的主动步态训练器,为行走障碍者提供优选的步态轨迹。这项工作的目标是同时控制马达模仿正常的步态。通过寻找机构和电机的传递函数,设计了鲁棒控制器以同步方式调节训练器。设计的控制器在cRIO™系统上实现以进行实验验证。结果表明,所提出的同步鲁棒控制是有效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Synchronized robust control of a gait trainer
This paper proposes synchronized robust control for an active gait trainer. We design an active gait trainer, which composes of linkage mechanism and motors, to produce preferred gait traces for people with walking disability. The goal of this work is to simultaneously control the motors to mimic normal gaits. By finding the transfer functions of the mechanism and motors, we design robust controllers to regulate the trainer in a synchronic way. The designed controllers are implemented on a cRIO™ system for experimental verification. From the results, the proposed synchronized robust control is deemed effective.
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