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

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 sim

SUBMITTER: Fang J 

PROVIDER: S-EPMC8176959 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature