Modeling and Control of an Underactuated System for Dynamic Body Weight Support

This article concerns the stability analysis of a control system for dynamic body weight support in rehabilitation device re-education human gait. The paper presents physical model device, which characterizes most important phenomena associated with movement system, i.e., inertia, damping, and elasticity. has one active passive element. They are connected by connector elastic damping properties. solution provides kinematic chain required due to interactions humans, while at same time ensures that is an underactuated system. also methodology used verify acting as formulates mathematical was synthesis using Lyapunov theory stability. results simulation experimental tests presented.