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Computational optimization and implementation of control system for mechatronic treadmill with body weight support system

Gembalczyk G., Duda S., Świtoński E.

Journal of Theoretical and Applied Mechanics

2018

Vol. 56 nr 4

1179--1191

The purpose of this paper is to present a novel mechatronic system for gait re-education which consists of a body weight support system (BWS system) and a treadmill. This publication covers mainly issues related to the design and optimization process of a control algorithm dedicated for the unloading system. The proposed control system is based on a fuzzy logic controller coupled with a PID regulator. The optimization of parameters for regulators has been conducted based on numerical simulations in which a hybrid optimization method combining a genetic algorithm with a gradient algorithm has been used. The developed control system has been tested experimentally.

Mechatronic device for locomotor training

Duda S., Gąsiorek D., Gembalczyk G., Kciuk S., Mężyk A.

Acta Mechanica et Automatica

2016

Vol. 10, no. 4

310--315

This paper presents a novel mechatronic device to support a gait reeducation process. The conceptual works were done by the interdisciplinary design team. This collaboration allowed to perform a device that would connect the current findings in the fields of biomechanics and mechatronics. In the first part of the article shown a construction of the device which is based on the structure of an overhead travelling crane. The rest of the article contains the issues related to machine control system. In the prototype, the control of drive system is conducted by means of two RT-DAC4/PCI real time cards connected with a signal conditioning interface. Authors present the developed control algorithms and optimization process of the controller settings values. The summary contains a comparison of some numerical simulation results and experimental data from the sensors mounted on the device. The measurement data were obtained during the gait of a healthy person.