| Citation: | WANG C，CHEN W J，CHEN W H，et al. Design of suspension weight-support rehabilitation system adapted to fluctuation of human center of gravity[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（7）：2322-2330 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0605
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The training that patients undergoing lower limb rehabilitation receive in walking is significantly impacted by the body weight support system. Most of the existing lower limb rehabilitation exoskeleton weight support devices only consider how to reduce the percentage of the patient's body weight and ignore the heaving of the patient's center of gravity. Since the pelvic brace of the exoskeleton has a fixed motion trajectory in the vertical direction, small changes in the patient's gait may result in a mismatch between the height of the center of gravity and the motion trajectory of the pelvic brace. This difference can be imposed on the patient's pelvic position, affecting the movement of the lower limb joints and creating additional risks. To solve this problem, plantar pressure was collected to predict the change of center of gravity position, and the obtained center of gravity trajectory was used to calculate the support force that should be applied, so as to provide safe and effective weight reduction for patient training. The feasibility of this method has been verified by simulation and practical verification of the developed exoskeleton support system. When using conventional body weight support, the fuzzy controller’s error in tracking the trajectory of the center of gravity is reduced by 21.2% compared to PID control, the steady-state error is maintained within a 1 mm range, and the range of motion of the hip and knee is increased by 14.36% and 13.77%, respectively.
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