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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.

The paper deals with a modelling of electromechanical drive systems incorporating vector control unit. The algorithms of sensitivity analysis and optimization of dynamic features have been elaborated and applied for selection of design features of the system with the aim to minimize dynamic forces in kinematic pairs. The assumed dynamic model takes into account electromechanical couplings and enables computer simulation of dynamic phenomena occurring in kinematic pairs of the drive system for various initial conditions. It is shown that the optimization process is more effective when both mechanical and electromagnetic parameters are used simultaneously. The application of optimization procedures in the design process is an effective aid and may be applied for determining design features of the drive systems considered here.