Abstract
A control design is presented for a cable driven parallel manipulator for performing a controlled motion assistance of a human ankle. Requirements are discussed for a portable, comfortable, and light-weight solution of a wearable device with an overall design with low-cost features and user-oriented operation. The control system utilizes various operational and monitoring sensors to drive the system and also obtain continuous feedback during motion to ensure an effective recovery. This control system for CABLEankle device is designed for both active and passive rehabilitation to facilitate the improvement in both joint mobility and surrounding muscle strength.
Highlights
The ankle is a complex joint that forms a kinematic linkage between the lower limb and the foot, allowing day-to-day tasks
Patients are required to travel to the hospital or facility where the rehabilitation device is installed despite a potential mobility impairment [24]
Whereas previous work discusses the CABLEankle’s mechanical design, a control system design is needed to integrate the sensors and motors with proper motion capabilities, which are required to perform a desired motion assistance by exerting forces and tensions according to the requirements of different stages of rehabilitation
Summary
The ankle is a complex joint that forms a kinematic linkage between the lower limb and the foot, allowing day-to-day tasks. Patients are required to travel to the hospital or facility where the rehabilitation device is installed despite a potential mobility impairment [24] To overcome this issue, cable-driven parallel robots (CDPR) were introduced into the field of rehabilitation, owing to their lighter weight, safe nature, and better payloadto-weight ratio [25]. Whereas previous work discusses the CABLEankle’s mechanical design, a control system design is needed to integrate the sensors and motors with proper motion capabilities, which are required to perform a desired motion assistance by exerting forces and tensions according to the requirements of different stages of rehabilitation This is usually achieved by developing three different operational modes, namely active training, passive training, and assistive training. The discussion sums up the work performed and gives insights into future research directions
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