2021/08/05 by Shoaib Muhammad, Ehsan Asadi, Shoaib, Muhammad +5
Engineering · Medicine · #FOS: Computer and information sciences #FOS: Electrical engineering #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Soft Robotics and Applications #Stroke Rehabilitation and Recovery #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2108.02379
openalex publication_date 2021/08/05 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Significant attention has been paid to robotic rehabilitation using various\ntypes of actuator and power transmission. Amongst those, cable-driven\nrehabilitation robots (CDRRs) are relatively newer and their control strategies\nhave been evolving in recent years. CDRRs offer several promising features,\nsuch as low inertia, lightweight, high payload-to-weight ratio, large\nwork-space and configurability. In this paper, we categorize and review the\ncable-driven rehabilitation robots in three main groups concerning their\napplications for upper limb, lower limb, and waist rehabilitation. For each\ngroup, target movements are identified, and promising designs of CDRRs are\nanalyzed in terms of types of actuators, controllers and their interactions\nwith humans. Particular attention has been given to robots with verified\nclinical performance in actual rehabilitation settings. A large part of this\npaper is dedicated to comparing the control strategies and techniques of CDRRs\nunder five main categories of: Impedance-based, PID-based, Admittance-based,\nAssist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted\nthe advantages and disadvantages of those methods with the aim of assisting the\ndesign of future CDRRs\n