Design and control of a cable-driven rehabilitation robot for upper and lower limbs

Efe Levent Oyman, Muhammed Yusuf Korkut, Cüneyt Ylmaz, Zeki Y. Bayraktaroglu, M. Selcuk Arslan*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)

Abstract

The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.

Original languageEnglish
Pages (from-to)1-37
Number of pages37
JournalRobotica
Volume40
Issue number1
DOIs
Publication statusPublished - 19 Jan 2022

Bibliographical note

Publisher Copyright:
© 2021 The Author(s). Published by Cambridge University Press.

Keywords

  • Cable-driven robot
  • Impedance control
  • Rehabilitation robot
  • Therapeutic exercise

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