Dynamic Modeling and Simulation of a Body Weight Support System.

Zhendong Song,Wei Chen,Guoqing Zhang,Wenbing Wang

doi:10.1155/2020/2802574

Zhendong Song, Wei Chen + Show 2 more

Open Access

https://doi.org/10.1155/2020/2802574

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Abstract

This paper proposes a body weight support (BWS) system with a series elastic actuator (SEA) to facilitate walking assistance and motor relearning during gait rehabilitation. This system comprises the following: a mobile platform that ensures movement of the system on the ground, a BWS mechanism with an SEA that is capable of providing the desired unloading force, and a pelvic brace to smooth the pelvis motions. The control of the body weight support is realized by an active weight-offload method, and a dynamic model of the BWS system with offload mass of a human is conducted to simulate the control process and optimize the parameters. Preliminary results demonstrate that the BWS system can provide the desired support force and vertical motion of the pelvis.

Highlights

Based on the data of the World Health Organization in 2016, more than six million stroke survivors are disabled yearly [1]
Studies have shown that robot-assisted rehabilitation training is more effective than traditional gait training in improving walking ability in stroke patients [4], and body weight support (BWS) treadmill training is effective in enhancing patient mobility [5, 6]
GaitEnable [12], Robotic Walker [13], and Kineassist [14] can provide patients with active BWS and part of passive pelvic motions by using a linear actuator and pelvic brace. e balance assessment robot (BAR) with four linear actuators and interaction force sensors was developed by Olensek et al [15] to control the pelvic position and orientation. e BAR can monitor the support force and provide adjustments in real time

Summary

Introduction

Based on the data of the World Health Organization in 2016, more than six million stroke survivors are disabled yearly [1]. Studies have shown that robot-assisted rehabilitation training is more effective than traditional gait training in improving walking ability in stroke patients [4], and body weight support (BWS) treadmill training is effective in enhancing patient mobility [5, 6]. The pelvic vertical motion in the coronal plane plays an important role in the transformation between potential energy and kinetic energy, and hemiplegic patients need active mass-offloading to support their body weight. E balance assessment robot (BAR) with four linear actuators and interaction force sensors was developed by Olensek et al [15] to control the pelvic position and orientation. Us, a pelvic support robot with BWS was developed and active BWS was provided for the vertical motion of the pelvis.

System Description

Modeling and Control

Simulation and Verification