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.
Venkata Sai Prathyush, I., Ceccarelli, M., Russo, M. (2022). Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance. ACTUATORS, 11(2) [10.3390/act11020063].
Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance
Ceccarelli M.;Russo M.
2022-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
