Design of Body-weight-support Training System Based on Center of Gravity Prediction

Facing the gait and balance rehabilitation training needs of patients with lower limb movement disorders, this paper, based on the principle of weight support walking rehabilitation and with the goal of realizing multifunctional weight reduction and real-time following of human body movement during dynamic movement, designs a weight support walking training system that is beneficial to help people with lower limb impairments to reduce the weight bearing of the lower limbs, improve the balance, and restore the basic walking ability. A multimode corrective control method based on the prediction of the center of gravity is proposed to address the problems of poor stability of weight reduction force and low precision of weight reduction in the dynamic training environment. The experimental results of rehabilitation training show that the designed walking training system has fast dynamic response, the steady state error of the dynamic support force of the lanyard is controlled within the range of ±5KG, and the multiple rehabilitation training modes can satisfy the safe rehabilitation training of patients at different stages, which proves the practicability of the designed control system and control strategy.