摘要
研究了一种能够有效降低病人行走动态载荷的质量虚拟去除主动人体重力支撑(Body weight support,BWS)系统。该主动BWS系统能够根据人体的加速度反馈实时调节悬挂绳索中的张力,以达到同时平衡作用在病人身体上的重力和惯性力。为了验证该主动BWS的技术可行性,设计了一个简化的实验装置,利用偏心轮带动滑块作上下运动来模拟人体在垂直方向的步态,悬挂滑块的绳索中的张力根据滑块的加速度反馈进行调节,滑块与偏心轮之间的接触力代表动态行走载荷。实验结果表明,质量虚拟去除主动BWS系统能够有效降低病人在步行康复跑步机上行走的重力载荷和惯性载荷,从而使病人在跑步机上进行训练时获得好像失去了部分身体质量的动力学感受。
An active body-weight support（BWS） system is investigated with virtual mass offloading capability to reduce the walking burden on patienti.The main idea of the BWS technology uses an active control winch to regulate the tension on the suspension cable based on the acceleration feedback to the offload both the weight and the inertia force acting on the patient body.A patient supported in such an active BWS system can walk on the treadmill with an ease dynamic load as if he/she loses partial mass of his/her body.To verify its engineering feasibility,a simplified testbed based on a cable pulley suspended cam-slider system is designed.And it can generate a periodical motion pattern similar to a human gait.A load cell is installed on the interconnect slider and the cable.The cable is driven by a controlled winch based on the acceleration feedback of the slider.The contact force between the slider and the cam is measured to evaluate the walking load of the slider.Experimental results demonstrate that the virtual mass offloading active BWS system can simultaneously reduce both gravitational and inertial loads of the walking body,thus it implies that the walking body suspended in the BWS system loses dynamics as if the certain amount of the body mass is removed.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2011年第1期120-126,共7页
Journal of Nanjing University of Aeronautics & Astronautics
