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Design and Position Servo Control of an Active Body-Weight Support Training System

Aiming at the problem of insufficient motion control of the human body center of gravity (COG) during training by using the existing body-weight support training system (BWSTS), an active BWSTS with double-shoulder suspension based on cable-driven was designed. Firstly, a mathematical model of the system drive unit was established by using mechanism analysis method. Secondly, the position servo control strategy was proposed. The frequency characteristics of the position servo system for the BWSTS and the influence of the disturbance caused by gravity on the system loading accuracy were analyzed. Finally, the effectiveness of the position servo control strategy was verified via the simulation analysis method.