Computational optimization and implementation of control system for mechatronic treadmill with body weight support system
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Silesian University of Technology, Department of Theoretical and Applied Mechanics, Gliwice
Submission date: 2018-01-16
Acceptance date: 2018-06-11
Online publication date: 2018-10-20
Publication date: 2018-10-20
Journal of Theoretical and Applied Mechanics 2018;56(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.