A multiposture locomotor training device with force-field control

Jianfeng Sui; Yali Liu; Runze Yang; Linhong Ji

doi:10.1155/2014/173518

A multiposture locomotor training device with force-field control

Jianfeng Sui, Yali Liu, Runze Yang, Linhong Ji^*

^*Corresponding author for this work

Tsinghua University

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

This paper introduces a multiposture locomotor training device (MPLTD) with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF) and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.

Original language	English
Article number	173518
Journal	Advances in Mechanical Engineering
Volume	2014
DOIs	https://doi.org/10.1155/2014/173518
Publication status	Published - 2014
Externally published	Yes

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title = "A multiposture locomotor training device with force-field control",

abstract = "This paper introduces a multiposture locomotor training device (MPLTD) with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF) and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.",

author = "Jianfeng Sui and Yali Liu and Runze Yang and Linhong Ji",

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AU - Sui, Jianfeng

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AU - Yang, Runze

AU - Ji, Linhong

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AB - This paper introduces a multiposture locomotor training device (MPLTD) with a closed-loop control scheme based on joint angle feedback, which is able to overcome various difficulties resulting from mechanical vibration and the weight of trainer to achieve higher accuracy trajectory. By introducing the force-field control scheme used in the closed-loop control, the device can obtain the active-constrained mode including the passive one. The MPLTD is mainly composed of three systems: posture adjusting and weight support system, lower limb exoskeleton system, and control system, of which the lower limb exoskeleton system mainly includes the indifferent equilibrium mechanism with two degrees of freedom (DOF) and the driving torque is calculated by the Lagrangian function. In addition, a series of experiments, the weight support and the trajectory accuracy experiment, demonstrate a good performance of mechanical structure and the closed-loop control.

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A multiposture locomotor training device with force-field control

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