ADAPTIVE CONTROL METHOD OF SITTING-POSITION WALKING TRAINING MACHINE

摘要

PROBLEM TO BE SOLVED: To provide an adaptive control method of a sitting-position walking training machine, for an object driven by omni-wheels of the sitting-position walking training machine allowing a patient who cannot keep a standing position to train the lower-limb muscle strength in the sitting position, for reducing a path tracking error caused by a change in a centroid position generated by a change in a posture and a sitting manner of a trainer.;SOLUTION: The adaptive control method includes: controlling the sitting-position walking training machine on the basis of kinetic energy of the sitting-position walking training machine by a mass of a person in need of training, a mass of the sitting-position walking training machine, and a moment of inertia at a centroid position, a difference between a centroid position of the whole of the sitting-position walking training machine and the trainer, and a center location of the sitting-position walking training machine, and a relation of force applied to each omni-wheel; calculating an unknown value for receiving an influence of the trainer, and using it as an estimation parameter; and proving the stability of the adaptive control of the sitting-position walking training machine by a stability theorem of Lyapunov.;COPYRIGHT: (C)2014,JPO&INPIT