การออกแบบตัวควบคุมของระบบช่วยพยุงน้ำหนักสำหรับฟื้นฟูการเดิน

Abstract

Gait rehabilitation is the process of restoring the stroke patient to learn walk again. For helping the patient to exert regularly force during the process, the body weight support has to maintain the constant force, remained body weight supported by the patient himself. The body weight support devices can be classified into passive and active types. The active device generally uses the motor as actuators for driving the mechanism to maintain the constant force. This research aimed to design a suitable controller to maintain constant force. The experiment was carried out by using the passive device, the active device and the combining of passive and active devices. During the experiment, the participant wear the body support suit and walked on the treadmill at speed of 0.25, 0.50, 0.75 and 1.00 m/s, respectively. At each speed, the mechanism of the passive device was adjusted, and/or the controller of active device was programmed to maintain the constant load of 10, 15, 20, 25 and 30 kg, respectively. The result showed that the combining of passive and active devices was the best performance case to maintain the constant force, with root mean square error less than 1 kg.