Force Analysis and Evaluation of a Pelvic Support Walking Robot with Joint Compliance

Figure 1

RAPBT-conceptualized design and the prototype of the trainer. Detailed mechanical design of robot-assisted pelvic balance trainer is given. Omnidirectional mobile platform (OMP): 1, mobile platform frame; 2, castor wheels; 3, deployable mechanism; 4, drive motors; 5, control unit (Beckhoff PLC CX5130). Partial body weight support system (PBWS): 6, PBWS frame; 7, tensioning wheel; 8, synchronous belt; 9, linear guides, 10, servo motor (BMH1401P11A1A). Pelvic brace (PB): 11, pelvis element; 12, encoders; 13, springs; 14, adjusting mechanism; 15, pair of ATI F/T sensors (Mini 45); 16, spherical joint.