Design and control of a cable-driven rehabilitation robot for upper and lower limbs
| Autor: | Zeki Yagiz Bayraktaroglu, Muhammed Yusuf Korkut, M. Selcuk Arslan, Efe Levent Oyman, Cüneyt Ylmaz |
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| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science General Mathematics Mechanical Engineering 0206 medical engineering Control (management) 02 engineering and technology Rehabilitation robot 020601 biomedical engineering Computer Science Applications 020901 industrial engineering & automation Control and Systems Engineering Modeling and Simulation Cable driven Software Simulation |
| Zdroj: | Robotica. 40:1-37 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574721000357 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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