Adaptive controller for motion control of a seated walking training machine

摘要

Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.