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

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BORIS DOI
10.48350/164362
Date of Publication
May 21, 2021
Publication Type
Article
Division/Institute

ARTORG Center - Geron...

Author
Fang, Juan
Haldimann, Michael
Marchal Crespo, Lauraorcid-logo
ARTORG Center - Gerontechnology and Rehabilitation
Hunt, Kenneth J.
Subject(s)

600 - Technology::610...

600 - Technology::620...

Series
Frontiers in neurorobotics
ISSN or ISBN (if monograph)
1662-5218
Publisher
Frontiers
Language
English
Publisher DOI
10.3389/fnbot.2021.651177
PubMed ID
34093158
Uncontrolled Keywords

cable-driven robots

force control

dynamic modeling

frequency-domain anal...

velocity compensation...

rehabilitation roboti...

Description
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% was observed. Further implementation of the velocity-feedforward lead compensators reduced the force tracking error to 9% in dynamic tests. With the combined control algorithms, the active cable-driven robotic system produced constant force within the four cables during walking on the treadmill, with a mean force-tracking error of 10.3%. This study demonstrates that the force control algorithms are technically feasible. The active cable-driven, force-controlled robotic system has the potential to produce user-defined assistance or resistance in rehabilitation and fitness training.
Handle
https://boris-portal.unibe.ch/handle/20.500.12422/201757
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fnbot-15-651177.pdftextAdobe PDF3.51 MBpublishedOpen
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