Design and Control of an Active Gait Trainer

• Main Authors: Nai-Chung Chang, 張乃中
• Other Authors: 王富正
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/15181893650403255298

碩士 === 國立臺灣大學 === 機械工程學研究所 === 96 === This thesis develops an active gait trainer for children with walking disability. In rehabilitation, two or three trainers are needed to guild children with walking disability. However, this process is inefficient in terms of manpower and time. To improve the efficiency, we construct a six-bar mechanism to mimic the trace of ankle joints and design controllers to follow the traces by using a cRIO system and motors. Through identification techniques, system transfer functions are obtained to design robust controllers for the system. In the end, the design is deemed effective from the simulation and experiments.