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*

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Makalebilirkişi

14 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Sayfa (başlangıç-bitiş)1-37
Sayfa sayısı37
DergiRobotica
Hacim40
Basın numarası1
DOI'lar
Yayın durumuYayınlandı - 19 Oca 2022

Bibliyografik not

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

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