Journal of Theoretical
and Applied Mechanics

56, 4, pp. 1179-1191, Warsaw 2018
DOI: 10.15632/jtam-pl.56.4.1179

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

Grzegorz Gembalczyk, Sławomir Duda, Eugeniusz Świtoński
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.
Keywords: gait reeducation, control system, optimization, fuzzy logic


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