Title :
Discussion of sling control simulation in feedback type Gait Training System
Author :
Ikeuchi, Hidetaka ; Takiyama, Singo ; Mamoru, Iha ; Saito, Yukio
Author_Institution :
Oita Univ., Oita, Japan
Abstract :
Our developing gait training system is the training device that tries to obtain the effect similar to the walk training in the warm water swimming pool. A train patient is slung and supported by the slinging system. They walk the force plate top. Slinging it up power is controlled on the basis of the information from the force plates. In this paper, we compare current control system with PID control system. In control simulation, effect of delay time is discussed.
Keywords :
mechanical variables control; medical robotics; patient rehabilitation; robot dynamics; three-term control; PID control system; feedback type gait training system; sling control simulation; walk training; Communication system control; Control system synthesis; Control systems; Current control; Delay effects; Force control; Force feedback; Force sensors; Humans; Legged locomotion;
Conference_Titel :
Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on
Conference_Location :
Kyoto International Conference Center
Print_ISBN :
978-1-4244-3788-7
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2009.5209569
