Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation.

Frontiers in Neurorobotics
Juan FangKenneth J Hunt

Abstract

In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs. However, a well-controlled assistance or resistance is desirable for effective walking relearning and muscle training. To achieve well-controlled force during locomotion training with the robowalk expander, we replaced the elastic bands with actuator-driven cables and implemented force control algorithms for regulation of cable tensions. The aim of this work was to develop an active cable-driven robotic system, and to evaluate force control strategies for walking rehabilitation using frequency-domain analysis. The system parameters were determined through experiment-assisted simulation. Then force-feedback lead controllers were developed for static force tracking, and velocity-feedforward lead compensators were implemented to reduce velocity-related disturbances during walking. The technical evaluation of the active cable-driven robotic system showed that force-feedback lead controllers produced satisfactory force tracking in the static tests with a mean error of 5.5%, but in the dynamic tests, a mean error of 13.2% ...Continue Reading

References

Jun 9, 2005·Topics in Stroke Rehabilitation·Joseph HidlerKathy Brady
Jan 16, 2014·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Juan FangKenneth J Hunt
May 16, 2018·Technology and Health Care : Official Journal of the European Society for Engineering and Medicine·Yupeng ZouKai Liu
Jan 11, 2020·Frontiers in Systems Neuroscience·Martina MaierPaul F M J Verschure

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