Design and Control of an Active Gait Trainer
Date Issued
2008
Date
2008
Author(s)
Chang, Nai-Chung
Abstract
This thesis develops an active gait trainer for children with walking disability. In rehabilitation, two or three trainers are needed to guild children with walking disability. However, this process is inefficient in terms of manpower and time. To improve the efficiency, we construct a six-bar mechanism to mimic the trace of ankle joints and design controllers to follow the traces by using a cRIO system and motors. Through identification techniques, system transfer functions are obtained to design robust controllers for the system. In the end, the design is deemed effective from the simulation and experiments.
Subjects
walking disability
trainer
six-bar mechanism
cRIO
robust controllers
Type
thesis
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ntu-97-R95522806-1.pdf
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