Abstract
Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable-driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with humans. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs.
Highlights
A CCORDING to a report published by the World Health Organization [1], there are over a billion of individuals, almost 15% of the world’s population, facing some kind of movement-related disability, mainly because of stroke, intellectual impairment, traumatic brain injury, musculoskeletal and neurological disorders [2]
Target movements are identified, and existing cable driven rehabilitation robots (CDRRs) are reviewed in terms of types of actuators, controllers, clinical studies, physical human-robot interactions, and humanmachine interfaces
Around 200 references and research articles on CDRRs are reviewed in this work with the aim of understanding the successes and shortfalls of existing developments and future needs
Summary
A CCORDING to a report published by the World Health Organization [1], there are over a billion of individuals, almost 15% of the world’s population, facing some kind of movement-related disability, mainly because of stroke, intellectual impairment, traumatic brain injury, musculoskeletal and neurological disorders [2]. The movement-related disabilities are often seen in older people. There are strong evidence that these movement-related disabilities can be restored by intensive repetitive rehabilitation training [3], [4]. Robotic rehabilitation offers promising features including repetitive training with uniform performance for a long period of time and quantitative measures for performance analysis. It can reduce labour intensity as well as cost, and improve the efficiency of rehabilitation process
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