145 重心移動を伴う座位歩行訓練機の運動制御

概要

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Walking is a basic function in daily life. Walking rehabilitation is vital for recovery of walking ability from various injuries and illnesses. Training machines for walking rehabilitation in order to realize early recovery are under development in our study. A seated walking training machine is proposed for people who cannot stand up to perform walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to the center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and verified in simulations. First, the kinematics and kinetics of the seated walking training machine are derived. Second, the adaptive control strategy is proposed. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in the simulations demonstrates the feasibility and effectiveness of the proposed adaptive control method.
一般社団法人日本機械学会の論文
2011-09-05