Fuzzy controller for the treadmill speed adaptation system in mechatronic device for gait reeducation

2020 ◽  
Vol 39 (5) ◽  
pp. 7757-7767
Author(s):  
Grzegorz Gembalczyk ◽  
Slawomir Duda ◽  
Eugeniusz Switonski ◽  
Arkadiusz Mezyk
Keyword(s):  
Energy Recovery ◽  
High Efficiency ◽  
Fuzzy Controller ◽  
Electricity Consumption ◽  
Speed Control ◽  
Experimental Tests ◽  
Locomotor Training ◽  
Treadmill Speed ◽  
Weight Support ◽  
Body Weight Support System

Training with use of mechatronic devices is an innovative rehabilitation method for patients with various locomotor dysfunction. High efficiency of training is noted in systems that combine a treadmill or orthosis with a body weight support system. Speed control is a limitation of such rehabilitation systems. In commercially available devices, the treadmill speed is constant or set by the therapist. Even better training results should be obtained for devices in which the speed of the treadmill will be automatically adjusted to the patient walking pace. This study presents a mechatronic device for locomotor training that uses an algorithm to adjust the speed of the treadmill. This speed is controlled with use of a sensor that measures the rope inclination. The end of rope is fastened to the orthopaedic harness. Speed control is realized in such a way that ensures the smallest possible swing angle of the rope. A fuzzy controller was applied to adjust the treadmill speed. The drive system of the treadmill is equipped in a servodrive with PMSM motor and energy recovery module, which allows smooth speed control, limiting acceleration and minimizing electricity consumption. The presented solution was implemented in a real object and subjected to experimental tests.

scholarly journals Dynamic Modeling and Simulation of a Body Weight Support System

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Zhendong Song ◽  
Wei Chen ◽  
Wenbing Wang ◽  
Guoqing Zhang
Keyword(s):  
Body Weight ◽  
Control Process ◽  
Vertical Motion ◽  
The Body ◽  
Body Weight Support ◽  
Gait Rehabilitation ◽  
Series Elastic Actuator ◽  
Weight Support ◽  
Support Force ◽  
Body Weight Support System

This paper proposes a body weight support (BWS) system with a series elastic actuator (SEA) to facilitate walking assistance and motor relearning during gait rehabilitation. This system comprises the following: a mobile platform that ensures movement of the system on the ground, a BWS mechanism with an SEA that is capable of providing the desired unloading force, and a pelvic brace to smooth the pelvis motions. The control of the body weight support is realized by an active weight-offload method, and a dynamic model of the BWS system with offload mass of a human is conducted to simulate the control process and optimize the parameters. Preliminary results demonstrate that the BWS system can provide the desired support force and vertical motion of the pelvis.

scholarly journals Comprehensive Parameters Identification and Dynamic Model Validation of Interior-Mount Line-Start Permanent Magnet Synchronous Motors

Machines ◽  
2019 ◽  
Vol 7 (1) ◽  
pp. 4 ◽  
Author(s):  
Luqman S. Maraaba ◽  
Zakariya M. Al-Hamouz ◽  
Abdulaziz S. Milhem ◽  
Ssennoga Twaha
Keyword(s):  
Mathematical Model ◽  
Permanent Magnet ◽  
High Efficiency ◽  
Experimental Tests ◽  
Induction Machines ◽  
Test Methods ◽  
Operating Conditions ◽  
Test Method ◽  
Permanent Magnet Synchronous Motors ◽  
Synchronous Motors

The application of line-start permanent magnet synchronous motors (LSPMSMs) is rapidly spreading due to their advantages of high efficiency, high operational power factor, being self-starting, rendering them as highly needed in many applications in recent years. Although there have been standard methods for the identification of parameters of synchronous and induction machines, most of them do not apply to LSPMSMs. This paper presents a study and analysis of different parameter identification methods for interior mount LSPMSM. Experimental tests have been performed in the laboratory on a 1-hp interior mount LSPMSM. The measurements have been validated by investigating the performance of the machine under different operating conditions using a developed qd0 mathematical model and an experimental setup. The dynamic and steady-state performance analyses have been performed using the determined parameters. It is found that the experimental results are close to the mathematical model results, confirming the accuracy of the studied test methods. Therefore, the output of this study will help in selecting the proper test method for LSPMSM.

scholarly journals Treino Locomotor com Suporte de Peso Corporal na Lesão Medular Incompleta

2001 ◽  
Vol 19 (4) ◽  
pp. 702-710
Author(s):  
Renata Teles Vieira ◽  
Rafaela Machado de Gusmão Oliveira ◽  
Camila Alves Nogueira Barros ◽  
Leonardo Caixeta
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Body Weight ◽  
Treadmill Training ◽  
Body Weight Support ◽  
Locomotor Training ◽  
Weight Support ◽  
Cord Injury

Objetivo. O objetivo deste trabalho foi realizar uma revisão de literatura sobre o uso do treino locomotor em pacientes portadores de lesão medular incompleta, a fim de verificar os seus efeitos para a marcha destes pacientes. Método. Foi realizada uma busca utilizando os bancos de dados medline, scielo e bvs a partir dos descritores: body weight-support treadmill training (suporte parcial de peso com treinamento em esteira), locomotor training (treino locomotor), spinal cord injury (lesão medular), gait (marcha). Todos os artigos coletados nos últimos 18 anos foram analisados. Discussão. A lesão medular é uma grave síndrome neurológica que causa diversos comprometimentos, inclusive da marcha. Para aperfeiçoar este processo, deu-se início à prática de reabilitação na esteira com suporte de peso corporal. A ampla utilização desta técnica de reabilitação deve-se a maior facilidade para o treino da marcha, a satisfação dos pacientes durante o tratamento e, principalmente, aos bons resultados gerados. Conclusão. Um número significante de estudos mostrou que o treino de marcha com suporte de peso corporal é um meio seguro e confiável, e que surgiu para inovar a reabilitação funcional da marcha. Não há evidência científica para afirmar que o treino locomotor com suporte de peso seja um método superior a outras terapias.

scholarly journals Modelling of sensored speed control of BLDC motor using MATLAB/SIMULINK

2019 ◽  
Vol 9 (5) ◽  
pp. 3333
Author(s):  
Basim Alsayid ◽  
Wael A. Salah ◽  
Yazeed Alawneh
Keyword(s):  
High Efficiency ◽  
Speed Control ◽  
Control Algorithms ◽  
Bldc Motor ◽  
Motor Speed ◽  
Operating Life ◽  
Matlab Simulink ◽  
Sensor Control ◽  
Recent Developments ◽  
High Dynamic

<span style="font-size: 9pt; font-family: 'Times New Roman','serif'; mso-bidi-font-style: italic; mso-fareast-font-family: 'Times New Roman'; mso-ansi-language: EN-US; mso-fareast-language: EN-US; mso-bidi-language: AR-SA;">Recent developments in the field of magnetic materials and power electronics, along with the availability of cheap powerful processors, have increased the adoption of brushless direct current (BLDC) motors for various applications, such as in home appliances as well as in automotive, aerospace, and medical industries. The wide adoption of this motor is due to its many advantages over other types of motors, such as high efficiency, high dynamic response, long operating life, relatively quiet operation, and higher speed ranges. This paper presents a simulation of digital sensor control of permanent magnet BLDC motor speed using the MATLAB/SIMULINK environment. A closed loop speed control was developed, and different tests were conducted to evaluate the validity of the control algorithms. Results confirm the satisfactory operation of the proposed control algorithms.</span>

Sign in / Sign up

Export Citation Format

Share Document