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

cris.virtual.author-orcid0000-0002-8008-5803
cris.virtualsource.author-orcid6f569215-f7ce-4b97-baad-499bcc179a52
dc.contributor.authorFang, Juan
dc.contributor.authorHaldimann, Michael
dc.contributor.authorMarchal Crespo, Laura
dc.contributor.authorHunt, Kenneth J.
dc.date.accessioned2025-01-08T21:18:00Z
dc.date.available2025-01-08T21:18:00Z
dc.date.issued2021-05-21
dc.description.abstractIn 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.
dc.description.numberOfPages16
dc.description.sponsorshipARTORG Center - Gerontechnology and Rehabilitation
dc.identifier.doi10.48350/164362
dc.identifier.pmid34093158
dc.identifier.publisherDOI10.3389/fnbot.2021.651177
dc.identifier.urihttps://boris-portal.unibe.ch/handle/20.500.12422/201757
dc.language.isoen
dc.publisherFrontiers
dc.relation.ispartofFrontiers in neurorobotics
dc.relation.issn1662-5218
dc.relation.organizationDCD5A442C49BE17DE0405C82790C4DE2
dc.relation.organizationDCD5A442C258E17DE0405C82790C4DE2
dc.subjectcable-driven robots
dc.subjectforce control
dc.subjectdynamic modeling
dc.subjectfrequency-domain analysis
dc.subjectvelocity compensation
dc.subjectrehabilitation robotic systems
dc.subject.ddc600 - Technology::610 - Medicine & health
dc.subject.ddc600 - Technology::620 - Engineering
dc.titleDevelopment of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation
dc.typearticle
dspace.entity.typePublication
dspace.file.typetext
oaire.citation.startPage651177
oaire.citation.volume15
oairecerif.author.affiliationARTORG Center - Gerontechnology and Rehabilitation
unibe.contributor.rolecreator
unibe.contributor.rolecreator
unibe.contributor.rolecreator
unibe.contributor.rolecreator
unibe.date.licenseChanged2022-01-18 16:35:29
unibe.description.ispublishedpub
unibe.eprints.legacyId164362
unibe.refereedTRUE
unibe.subtype.articlejournal

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