Department of Theoretical and Applied Mechanics, Faculty of Mechanical Engineering, Silesian University of Technology, Akademicka 2A, 44-100 Gliwice, Poland.
Department of Applied Mechanics and Robotics, Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, 35-959 Rzeszów, Poland.
Sensors (Basel). 2021 Jul 26;21(15):5051. doi: 10.3390/s21155051.
This paper discusses the stability of systems controlling patient body weight support systems which are used in gait re-education. These devices belong to the class of underactuated mechanical systems. This is due to the application of elastic shock-absorbing connections between the active part of the system and the passive part which impacts the patient. The model takes into account properties of the system, such as inertia, attenuation and susceptibility to the elements. Stability is an essential property of the system due to human-device interaction. In order to demonstrate stability, Lyapunov's theory of stability, which is based on the model of system dynamics, was applied. The stability of the control system based on a model that requires knowledge of the structure and parameters of the equations of motion was demonstrated. Due to inaccuracies in the modeling of the rope (one of the basic elements of the device), an adaptive control system was introduced and its stability was also proved. The authors conducted simulation and experimental tests that illustrate the functionality of the analyzed control systems.
本文讨论了用于步态再教育的患者体重支撑系统控制的稳定性。这些设备属于欠驱动机械系统的范畴。这是由于在系统的主动部分和被动部分之间应用了弹性减震连接，这会对患者产生影响。该模型考虑了系统的惯性、衰减和对元素的敏感性等特性。由于人机交互，稳定性是系统的一个基本特性。为了证明稳定性，应用了基于系统动力学模型的 Lyapunov 稳定性理论。基于需要运动方程结构和参数知识的模型的控制系统的稳定性得到了证明。由于绳索建模不准确（设备的基本元素之一），引入了自适应控制系统，并对其稳定性进行了证明。作者进行了模拟和实验测试，说明了所分析的控制系统的功能。
