This article discusses the control of the planar motion of a cable robot designed for the rehabilitation of lower limbs to strengthen weakened muscles. The proposed cable robot has two degrees of freedom and consists of four cables. First, the motion model of the lower limbs in the sagittal plane is derived. The extracted dynamic system is multi-input multi-output with nonlinear behavior. One of the challenges of this study was to derive a control algorithm for the aforementioned system to simultaneously control the joint angles and the torques applied to them. For this purpose, the impedance control approach was used to design a control algorithm that meets the desired objectives. Another challenge of this research was to distinguish between the torques applied to the joints by the patient and the innate torques of the joints. A method for estimation was proposed to overcome this challenge. Simulation results show that the proposed control algorithm can achieve the objectives examined in this study. The designed robot helps to strengthen the patient's muscles by opposing the patient's movement in 99.7% of the movement period.
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Rezvani,F. , Mohammadi Daniali,H. R. and Javanshir,K. (2025). Design a cable robot for lower limb rehabilitation using impedance control approach. Karafan Journal, 22(3), 144-172. doi: 10.48301/kssa.2025.476145.2978
MLA
Rezvani,F. , , Mohammadi Daniali,H. R. , and Javanshir,K. . "Design a cable robot for lower limb rehabilitation using impedance control approach", Karafan Journal, 22, 3, 2025, 144-172. doi: 10.48301/kssa.2025.476145.2978
HARVARD
Rezvani F., Mohammadi Daniali H. R., Javanshir K. (2025). 'Design a cable robot for lower limb rehabilitation using impedance control approach', Karafan Journal, 22(3), pp. 144-172. doi: 10.48301/kssa.2025.476145.2978
CHICAGO
F. Rezvani, H. R. Mohammadi Daniali and K. Javanshir, "Design a cable robot for lower limb rehabilitation using impedance control approach," Karafan Journal, 22 3 (2025): 144-172, doi: 10.48301/kssa.2025.476145.2978
VANCOUVER
Rezvani F., Mohammadi Daniali H. R., Javanshir K. Design a cable robot for lower limb rehabilitation using impedance control approach. Karafan, 2025; 22(3): 144-172. doi: 10.48301/kssa.2025.476145.2978
