教師資料查詢 | 類別: 期刊論文 | 教師: 李宜勳 LI, I-HSUN (瀏覽個人網頁)

標題:A Proof of Concept Study for the Design, Manufacturing and Control of a Mobile Overground Gait-Training System
學年
學期
出版(發表)日期2021/03/19
作品名稱A Proof of Concept Study for the Design, Manufacturing and Control of a Mobile Overground Gait-Training System
作品名稱(其他語言)
著者Lian-Wang Lee; I-Hsum Li; Ting-Wei Liang
單位
出版者
著錄名稱、卷期、頁數International Journal of Fuzzy Systems
摘要In this study, a mobile overground gait-training system (OGTS) was designed, and a prototype was manufactured to determine the feasibility and control stability of the designed system. Approval was received from the Institutional Review Board of Fu Jen Catholic University for conducting experimental testing on healthy individuals with the designed mobile OGTS. The designed system comprises a mobile electric walking aid (EWA), a body weight support system (BWSS), and an exoskeleton gait orthosis (EGO). The system can perform multiple functions for physical overground gait training. The mobile EWA and EGO can be operated separately from the mobile OGTS. An interval type-2 fuzzy sliding controller (IT2FSC) was designed to compensate for disturbances and uncertainties because the mobile OGTS has a coupling issue and potential subjects have different weights and body shapes. The mobile OGTS has one IT2FSC to provide a pulse-width modulation output to regulate two linear actuators for the BWSS, and it adopts four IT2FSCs to produce voltage outputs to control the gait trajectory of the EGO. Three experiments demonstrated that the mobile OGTS provides a stable control force to assist the user in overground gait training as well as assist-as-needed body weight support for gait training.
關鍵字Rehabilitation robotics;Mobile robots;Assistive exoskeleton;Gait training;Interval type-2 fuzzy control
語言英文
ISSN2199-3211
期刊性質國外
收錄於SCI;
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式,電子版
相關連結
SDGs
  • 產業創新與基礎設施
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