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Design and control of a cable-driven rehabilitation robot for upper and lower limbs

Published online by Cambridge University Press:  19 April 2021

Efe Levent Oyman ,
Muhammed Yusuf Korkut ,
Cüneyt Yilmaz ,
Zeki Y. Bayraktaroglu  and
M. Selcuk Arslan Open the ORCID record for M. Selcuk Arslan [Opens in a new window]
Efe Levent Oyman
Affiliation:
Yildiz Technical University, Department of Mechatronics Engineering, Istanbul, Turkey
Muhammed Yusuf Korkut
Affiliation:
Istanbul Technical University, Graduate School of Science Engineering and Technology, Istanbul, Turkey
Cüneyt Yilmaz
Affiliation:
Yildiz Technical University, Department of Mechatronics Engineering, Istanbul, Turkey
Zeki Y. Bayraktaroglu
Affiliation:
Istanbul Technical University, Mechanical Engineering Department, Istanbul, Turkey
M. Selcuk Arslan*
Affiliation:
Yildiz Technical University, Department of Mechatronics Engineering, Istanbul, Turkey
*
*Corresponding author. Email: msarslan@yildiz.edu.tr
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Abstract

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.

Keywords

Rehabilitation robotImpedance controlTherapeutic exerciseCable-driven robot
Type
Article
Information
Robotica , Volume 40 , Issue 1 , January 2022 , pp. 1 - 37
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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