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Modeling and control of a partial body weight support system / Matthias Glauser in IEEE Transactions on control systems technology, Vol. 18 N° 2 (Mars 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 2 (Mars 2010) . - pp. 480-490 Titre : Modeling and control of a partial body weight support system : an output regulation approach Type de document : texte imprimé Auteurs : Matthias Glauser, Auteur ; Zongli, Lin, Auteur ; Allaire, Paul E., Auteur Année de publication : 2011 Article en page(s) : pp. 480-490 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Disturbance  rejection  Output  tracking Index. décimale : 629.1 Résumé : This brief reports on the modeling, control design, and implementation, and experimental results of a partial body weight support (PBWS) system, which facilitates walking and the relearning process for people suffering from gait impairment as a result of a neurological injury such as strokes. This apparatus is equipped with a load cell which constantly monitors the provided support force, and a linear motor, capable of taking immediate action to keep this support force very close to a predefined profile. In order to design a feedback control law that governs the action of the linear motor, a dynamic model of the PBWS system with a patient has been developed along with a procedure to identify the model parameters. Based on this model, the design of the feedback law is formulated and solved as an output regulation problem. The implementation of the resulting feedback law is described in detail and practical limitations of output regulation in this application are discussed. Preliminary data from a clinical study demonstrate the ability of this novel PBWS system to provide the desired support force patterns and to modulate gait parameters such as the vertical ground reaction force in a controlled manner. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5152948 [article] Modeling and control of a partial body weight support system : an output regulation approach [texte imprimé] / Matthias Glauser, Auteur ; Zongli, Lin, Auteur ; Allaire, Paul E., Auteur . - 2011 . - pp. 480-490. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 2 (Mars 2010) . - pp. 480-490 Mots-clés : Disturbance  rejection  Output  tracking Index. décimale : 629.1 Résumé : This brief reports on the modeling, control design, and implementation, and experimental results of a partial body weight support (PBWS) system, which facilitates walking and the relearning process for people suffering from gait impairment as a result of a neurological injury such as strokes. This apparatus is equipped with a load cell which constantly monitors the provided support force, and a linear motor, capable of taking immediate action to keep this support force very close to a predefined profile. In order to design a feedback control law that governs the action of the linear motor, a dynamic model of the PBWS system with a patient has been developed along with a procedure to identify the model parameters. Based on this model, the design of the feedback law is formulated and solved as an output regulation problem. The implementation of the resulting feedback law is described in detail and practical limitations of output regulation in this application are discussed. Preliminary data from a clinical study demonstrate the ability of this novel PBWS system to provide the desired support force patterns and to modulate gait parameters such as the vertical ground reaction force in a controlled manner. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5152948