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A control strategy of a body weight support system for interactive treadmill

Title
A control strategy of a body weight support system for interactive treadmill
Authors
Junsang Kwon
DGIST Authors
Junsang Kwon
Advisor(s)
김종현
Co-Advisor(s)
Taehun Kang
Issue Date
2019
Available Date
2019-10-03
Degree Date
2019-02
Type
Thesis
Table Of Contents
List of contents 1. Introduction 1.1 Gait rehabilitation 1 1.2 Body weight support(BWS) system 2 1.3 Interactive treadmill(ITM) 4 1.4 Body weight support(BWS) system for interactive treadmill 5 1.5 Control strategy for conventional body weight support system 6 1.5.1 zeroG body weight support system 6 1.5.2 FLOAT body weight support system 7 1.6 Purpose of the research 8 2. Background 2.1 Series elastic actuator(SEA) 10 2.1.1 Concept of the series elastic actuator 10 2.1.2 Characteristic of series elastic actuator 11 2.2 Time delay control(TDC) 12 2.3 Time delay control(TDC) based impedance control 14 2.4 TDC based force tracking impedance control 15 3. Method 3.1 Hardware 17 3.1.1 Frame of the body weight support system 17 3.1.2 Motor and motor driver setup & specification 18 3.1.3 Load cell setup & specification 19 3.2 Proposed controller 20 3.2.1 Concept of impact absorption 20 3.2.2 Applying the concept to two-cable driven mechanism 22 3.2.3 Applying switching control method 23 4. Results 4.1 Non-human experiment, barbell test 24 4.1.1 Comparison with TDC based impedance control and PID 24 4.2 Human walking experiment, asymmetric gait 26 4.2.1 Comparison with proposed controller and PID(conventional treadmill) 26 4.2.2 Comparison with proposed controller and PID(interactive treadmill) 27 5. Conclusion and Discussion 28 5.1 Hardware and control limitation 28 References 29
URI
http://dgist.dcollection.net/common/orgView/200000171494
http://hdl.handle.net/20.500.11750/10753
DOI
10.22711/thesis.200000171494
Degree
MASTER
Department
Robotics Engineering
University
DGIST
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringETCETC


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