A novel mechatronic body weight support (BWS) system has been developed to provide precise body weight unloading for patients with neurological or other impairments during treadmill training. The system is composed of a passive elastic spring element to take over the main unloading force and an active closed-loop controlled electric drive to generate the exact desired force. Both force generating units, the passive spring and the active electric drive, act on the patient via a polyester rope connected to a harness worn by the patient. The length of the rope can be adjusted with an electric winch to adapt the system to different patient sizes. The system is fully computer controlled. At unloading loads of up to 60 kg and walking speeds of up to 3.2 km/h, the mean unloading error and the maximum unloading error of the presented BWS system was less than 1 and 3 kg, respectively. The performance was compared with those of two purely passive BWS systems currently being used by most other rehabilitation groups. This comprised counterweight systems and static BWS systems with fixed rope lengths. Counterweight systems reached mean and maximum unloading errors of up to 5.34 and 16.22 kg, respectively. The values for the static BWS were 11.02 kg and 27.67 kg, respectively. The novel mechatronic BWS system presented in this study adjusts desired unloading changes of up to 20 kg within less than 100 ms. Thus, not only constant BWS, but also gait cycle dependent or time variant oscillations of the desired force can be realized with high accuracy. Precise and constant unloading force is believed to be an important prerequisite for BWS gait therapy, where it is important to generate physiologically correct segmental dynamics and ground reaction forces. Thus, the novel BWS system presented in this paper is an important contribution to maximize the therapeutic outcome of human gait rehabilitation.

译文

已开发出一种新颖的机电一体化体重支持 (BWS) 系统,可为跑步机训练期间患有神经系统或其他障碍的患者提供精确的体重卸载。该系统由被动弹性弹簧元件组成,用于接管主卸载力,以及主动闭环控制的电驱动器,以产生精确的期望力。两个力产生单元,即被动弹簧和主动电驱动器,通过连接到患者佩戴的安全带的聚酯绳作用于患者。绳索的长度可以用电动绞盘调节,以使系统适应不同的患者尺寸。该系统完全由计算机控制。在高达60千克的卸载载荷和高达3.2千米/h的步行速度下,所提出的BWS系统的平均卸载误差和最大卸载误差分别小于1和3千克。将性能与大多数其他康复小组目前使用的两种纯被动BWS系统的性能进行了比较。这包括配重系统和具有固定绳索长度的静态BWS系统。配重系统的平均和最大卸载误差分别达到5.34和16.22千克。静态BWS的值分别为11.02千克和27.67千克。本研究中提出的新型机电BWS系统在不到100毫秒的时间内调节高达20千克的所需卸载变化。因此,不仅可以实现恒定的BWS,而且可以实现步态周期相关或所需力的时变振荡。精确且恒定的卸荷力被认为是BWS步态疗法的重要先决条件,在该疗法中,重要的是产生生理上正确的节段动力学和地面反作用力。因此,本文提出的新型BWS系统是最大程度地提高人类步态康复治疗效果的重要贡献。

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