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Dynamic Modeling and Simulation of a Body Weight Support System.
Zhendong Song1, Wei Chen1, Wenbing Wang1
1Shen Zhen Polytechnic, 4089 Shahe West Road, Shenzhen 518055, China.
Journal of Healthcare Engineering
|February 28, 2020
Summary
This study introduces a body weight support (BWS) system using a series elastic actuator (SEA) for gait rehabilitation. The system effectively provides targeted unloading forces and controls pelvic motion during walking assistance.
Area of Science:
- Rehabilitation Engineering
- Biomechanics
- Robotics
Background:
- Gait rehabilitation requires effective assistive devices.
- Existing systems may lack precise force control or adaptability.
- Series elastic actuators offer potential for compliant and controlled force delivery.
Purpose of the Study:
- To propose and evaluate a novel body weight support (BWS) system.
- To integrate a series elastic actuator (SEA) for controlled unloading during gait.
- To assess the system's ability to assist walking and facilitate motor relearning.
Main Methods:
- Development of a mobile BWS system with an SEA and pelvic brace.
- Implementation of an active weight-offload control strategy.
- Dynamic modeling and simulation of the BWS system with human subject parameters.
Main Results:
- The BWS system successfully provided the desired unloading force.
- The system demonstrated control over vertical pelvic motion.
- Preliminary results indicate feasibility for gait assistance.
Conclusions:
- The proposed BWS system with SEA is a viable tool for gait rehabilitation.
- The active weight-offload method effectively controls support forces.
- Further research can optimize parameters for enhanced motor relearning.
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