In this study, a mobile overground gait-training system (OGTS) was designed, and a prototype was manufactured to determine the feasibility and control stability of the designed system. Approval was received from the Institutional Review Board of Fu Jen Catholic University for conducting experimental testing on healthy individuals with the designed mobile OGTS. The designed system comprises a mobile electric walking aid (EWA), a body weight support system (BWSS), and an exoskeleton gait orthosis (EGO). The system can perform multiple functions for physical overground gait training. The mobile EWA and EGO can be operated separately from the mobile OGTS. An interval type-2 fuzzy sliding controller (IT2FSC) was designed to compensate for disturbances and uncertainties because the mobile OGTS has a coupling issue and potential subjects have different weights and body shapes. The mobile OGTS has one IT2FSC to provide a pulse-width modulation output to regulate two linear actuators for the BWSS, and it adopts four IT2FSCs to produce voltage outputs to control the gait trajectory of the EGO. Three experiments demonstrated that the mobile OGTS provides a stable control force to assist the user in overground gait training as well as assist-as-needed body weight support for gait training.

在这项研究中，设计了一种移动式地面步态训练系统（OGTS），并制造了一个原型来确定所设计系统的可行性和控制稳定性。辅仁大学的机构审查委员会已批准批准使用设计的移动OGTS对健康个体进行实验测试。设计的系统包括移动式电动助行器（EWA），体重支持系统（BWSS）和外骨骼步态矫形器（EGO）。该系统可以执行多种功能以进行地面地面步态训练。移动EWA和EGO可以与移动OGTS分开操作。设计间隔2型模糊滑动控制器（IT2FSC）来补偿干扰和不确定性，因为移动式OGTS存在耦合问题，并且潜在对象的体重和身材不同。移动OGTS具有一个IT2FSC，可提供脉冲宽度调制输出以调节BWSS的两个线性致动器，并采用四个IT2FSC产生电压输出，以控制EGO的步态轨迹。三个实验表明，移动式OGTS可提供稳定的控制力来协助用户进行地面步态训练，并为步态训练提供必要的体重支持。它采用四个IT2FSC来产生电压输出，以控制EGO的步态轨迹。三个实验表明，移动式OGTS可提供稳定的控制力来协助用户进行地面步态训练，并为步态训练提供必要的体重支持。它采用四个IT2FSC来产生电压输出，以控制EGO的步态轨迹。三个实验表明，移动式OGTS可提供稳定的控制力来协助用户进行地面步态训练，并为步态训练提供必要的体重支持。