An Adaptive Control Approach of Body Weight Support System for Lower Limb Exoskeleton Based on Trajectory Feedforward

2021 ◽  
Author(s):  
Xingming Wu ◽  
Ziwen Xu ◽  
Jianhua Wang ◽  
Jianbin Zhang ◽  
Weihai Chen
Keyword(s):  
Body Weight ◽  
Adaptive Control ◽  
Support System ◽  
Lower Limb ◽  
Body Weight Support ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Weight Support ◽  
Body Weight Support System

Estimating Range of Lower Body Joint Angles with a Sensorized Overground Body-Weight Support System

2021 ◽  
Author(s):  
Chun Kwang Tan ◽  
Bruno Leme ◽  
Eleuda Nunez ◽  
Hideki Kadone ◽  
Kenji Suzuki ◽  
...  
Keyword(s):  
Body Weight ◽  
Support System ◽  
Body Weight Support ◽  
Lower Body ◽  
Joint Angles ◽  
Weight Support ◽  
Body Weight Support System ◽  
Body Joint

scholarly journals Development of a body weight support system using pneumatic muscle actuators: Controlling and validation

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668359 ◽  
Author(s):  
Tran Van Thuc ◽  
Shin-ichiroh Yamamoto
Keyword(s):  
Body Weight ◽  
Support System ◽  
Center Of Pressure ◽  
Gait Training ◽  
Body Weight Support ◽  
The Novel ◽  
Pneumatic Muscle ◽  
Weight Support ◽  
Muscle Actuators ◽  
Body Weight Support System

This study introduces the development of a new body weight support system using pneumatic actuators for gait training. The main scope of this work is to provide a new design, validation, and assessment for active body weight support systems to reproduce a subject’s normal walking behavior. Based on the assessments and its evaluations, the novel body weight support system using pneumatic muscle actuators shows many advantageous characteristics, such as simplicity, low cost, maintenance of a constant unloading force, and ease of control of the supported force. The capability of the novel body weight support system to generate unloading forces that track the center of pressure, because it switches from left to right and vice versa as the subject walks, is especially interesting.

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