Control system for partial body weight support device for human gait training

This study is concerned with the control system design using Labview real time module and Matlab/Simulink combined system for an application to the partial body weight support (PBWS) system for human gait training actuated by a linear motor moving in translation. In order to control the linear motor, a simple PI position controller which includes a translation velocity feedback loop is employed. The role of the velocity feedback loop is to improve the stiffness of system loop used in motion control of the linear motor. A control algorithm is implemented in the Matlab/Simulink and the compiled Simulink blocks source code is downloaded to the Labview real time module. A steel frame necessary for supporting the patient is designed. A sinusoidal reference signal, which represents a normal person's dynamic center of mass oscillating pattern, is employed to train the patients. The success of the PBWS gait train device in rehabilitating patients depends on the device delivering the proper center of mass oscillating pattern with disturbance. This paper develops a control system to make the linear motor track the center of mass oscillating pattern and demonstrates the tracking performance of the proposed control system.