淡江大學機構典藏:Item 987654321/122314
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    题名: Design, Manufacturing, and Control of a Pneumatic-Driven Passive Robotic Gait Training System for Muscle-Weakness in a Low Limb
    作者: I.H. Li;Y.S. Lin;L.-W. Lee;W.T. Lin
    关键词: gait training;rehabilitation robotics;assistive exoskeleton;body weight support system;gait orthosis system;interval type-2 fuzzy sliding control
    日期: 2021-10-09
    上传时间: 2022-03-02 12:13:46 (UTC+8)
    出版者: MDPI Publisher
    摘要: We designed and manufactured a pneumatic-driven robotic passive gait training system (PRPGTS), providing the functions of body-weight support, postural support, and gait orthosis for patients who suffer from weakened lower limbs. The PRPGTS was designed as a soft-joint gait training rehabilitation system. The soft joints provide passive safety for patients. The PRPGTS features three subsystems: a pneumatic body weight support system, a pneumatic postural support system, and a pneumatic gait orthosis system. The dynamic behavior of these three subsystems are all involved in the PRPGTS, causing an extremely complicated dynamic behavior; therefore, this paper applies five individual interval type-2 fuzzy sliding controllers (IT2FSC) to compensate for the system uncertainties and disturbances in the PRGTS. The IT2FSCs can provide accurate and correct positional trajectories under passive safety protection. The feasibility of weight reduction and gait training with the PRPGTS using the IT2FSCs is demonstrated with a healthy person, and the experimental results show that the PRPGTS is stable and provides a high-trajectory tracking performance.
    關聯: Sensors 21(20), 6709
    DOI: 10.3390/s21206709
    显示于类别:[機械與機電工程學系暨研究所] 期刊論文

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