Fuzzy Controller Design for Robot Assisted Omni-Directional Treadmill Therapy

摘要

One of the defining characteristic of human being is their ability to walk upright. Loss or restriction of such ability whether due to the accident, spine problem, stroke or other neurological injuries can cause tremendous stress on the patients and hence will contribute negatively to their quality of life. Modern research shows that physical exercise is very important for maintaining physical fitness and adopting a healthy life style. In modern days treadmill is widely used for physical exercises and training which enables the user to set up an exercise regime that can be adhered to irrespective of the weather. Among the users of treadmills today are medical facilities such as hospitals, rehabilitation centers, medical and physiotherapy clinics etc. The process of assisted training or doing rehabilitation exercise through treadmill is referred to as treadmill therapy. A modern treadmill is an automated machine having some built in functions and predefined features. Most of the treadmills used today are one dimensional and user can only walk in one direction. This paper presents the idea of using omnidirectional treadmills which will be more appealing to the patients as they can walk in any direction, hence encouraging them to do exercises more frequently. This paper proposes a fuzzy control design and possible implementation strategy to assist patients in treadmill therapy. By intelligently controlling the safety belt attached to the treadmill user, one can help them steering left, right or in any direction. The use of intelligent treadmill therapy can help patients to improve their walking ability without being continuously supervised by the specialist. The patients can walk continuously within a limited space and the support system will provide continuous evaluation of their state and can readjust the control parameters of treadmill accordingly to provide best possible assistance.