Wang, Fu-ChengFu-ChengWangYu, Chung-HuangChung-HuangYuChou, Tai-YuTai-YuChou2011-02-112018-06-282011-02-112018-06-282009-06http://ntur.lib.ntu.edu.tw//handle/246246/222654This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design H∞ robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective. ? 2009 IMechE.en-USGait trainer; Model reduction; Robust control; System identification[SDGs]SDG3Gait trainer; Model reduction; Motor-driven mechanism; Operating points; Rehabilitation procedures; Robust algorithm; Robust controllers; System identification; System identification techniques; System transfer function; Control strategies; Design and implementations; gait trainer; Model reduction; Motor-driven mechanism; Rehabilitation procedures; System identification techniques; System transfer function; Algorithms; Identification (control systems); Patient rehabilitation; Robust control; Algorithms; Identification (control systems); Patient rehabilitation; Religious buildings; Robust control; Controllers; Controllers; article; child; computer aided design; computer assisted therapy; equipment; equipment design; feedback system; human; instrumentation; methodology; neurologic disease; pathophysiology; physiotherapy; reproducibility; robotics; sensitivity and specificity; Child; Computer-Aided Design; Equipment Design; Equipment Failure Analysis; Feedback; Gait Disorders, Neurologic; Humans; Physical Therapy Modalities; Reproducibility of Results; Robotics; Sensitivity and Specificity; Therapy, Computer-Assistedjournal article10.1243/09544119JEIM609http://ntur.lib.ntu.edu.tw/bitstream/246246/222654/1/904.pdf