Publication: Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation
cris.virtual.author-orcid | 0000-0002-8008-5803 | |
cris.virtualsource.author-orcid | 6f569215-f7ce-4b97-baad-499bcc179a52 | |
dc.contributor.author | Fang, Juan | |
dc.contributor.author | Haldimann, Michael | |
dc.contributor.author | Marchal Crespo, Laura | |
dc.contributor.author | Hunt, Kenneth J. | |
dc.date.accessioned | 2025-01-08T21:18:00Z | |
dc.date.available | 2025-01-08T21:18:00Z | |
dc.date.issued | 2021-05-21 | |
dc.description.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 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.numberOfPages | 16 | |
dc.description.sponsorship | ARTORG Center - Gerontechnology and Rehabilitation | |
dc.identifier.doi | 10.48350/164362 | |
dc.identifier.pmid | 34093158 | |
dc.identifier.publisherDOI | 10.3389/fnbot.2021.651177 | |
dc.identifier.uri | https://boris-portal.unibe.ch/handle/20.500.12422/201757 | |
dc.language.iso | en | |
dc.publisher | Frontiers | |
dc.relation.ispartof | Frontiers in neurorobotics | |
dc.relation.issn | 1662-5218 | |
dc.relation.organization | DCD5A442C49BE17DE0405C82790C4DE2 | |
dc.relation.organization | DCD5A442C258E17DE0405C82790C4DE2 | |
dc.subject | cable-driven robots | |
dc.subject | force control | |
dc.subject | dynamic modeling | |
dc.subject | frequency-domain analysis | |
dc.subject | velocity compensation | |
dc.subject | rehabilitation robotic systems | |
dc.subject.ddc | 600 - Technology::610 - Medicine & health | |
dc.subject.ddc | 600 - Technology::620 - Engineering | |
dc.title | Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation | |
dc.type | article | |
dspace.entity.type | Publication | |
dspace.file.type | text | |
oaire.citation.startPage | 651177 | |
oaire.citation.volume | 15 | |
oairecerif.author.affiliation | ARTORG Center - Gerontechnology and Rehabilitation | |
unibe.contributor.role | creator | |
unibe.contributor.role | creator | |
unibe.contributor.role | creator | |
unibe.contributor.role | creator | |
unibe.date.licenseChanged | 2022-01-18 16:35:29 | |
unibe.description.ispublished | pub | |
unibe.eprints.legacyId | 164362 | |
unibe.refereed | TRUE | |
unibe.subtype.article | journal |
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