Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-413-2023
https://doi.org/10.5194/ms-14-413-2023
Research article
 | 
09 Oct 2023
Research article |  | 09 Oct 2023

Motion planning and control strategy of a cable-driven body weight support gait training robot

Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang

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Short summary
A cable-driven body weight support gait training robot (C-BWSGTR) was designed to help provide patients with partial body weight support and a stable walking driving force to assist gait rehabilitation training. Overall configuration, kinematic modeling, and motion planning were carried out, and a position servo composite control strategy was designed. Simulation analysis and the prototype experiment verified that the designed control strategy met the requirements of the system.