Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance

Prathyush, Idumudi Venkata Sai; Ceccarelli, Marco; Russo, Matteo

doi:10.3390/act11020063

Cited by 11 publications

(4 citation statements)

References 31 publications

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“…Another alternative is a cable-driven lower-limb parallel robot [77]optimization methods are in [78], and an innovative robot is in [79]. The most similar to our approach with four wires attached to the shank are in [80], and the CABLEankle [81]. They are designed for the plantar surface of the foot parallel to the transversal plane.…”

Section: Related Workmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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Section: Related Workmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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“…Designing control systems for cable-driven manipulators, such as CABLEankle [16], involves a combination of mechanical design and control algorithms. The goal is to assist ankle motion effectively and safely.…”

Section: Introductionmentioning

confidence: 99%

A Portable Robotic System for Ankle Joint Rehabilitation

Nursultan,

Marco,

Balbayev

2023

Electronics

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The design of a new exoskeleton is presented based on four electric linear actuators for the flexion motion range of the ankle of a user. The exoskeleton system is designed to be easy to operate and fairly inexpensive so that it can be used as a tool for exercising and the rehabilitation of the ankle. A prototype of the ankle exoskeleton is presented with its electrical circuit and components, such as servomotors, microcontrollers, sensors, and power supplies. The prototype is distinguished by an innovative design, which uses linear electric actuators for angular-assisted motion, providing a controlled adaptive movement of the ankle joint in its basic movements, separately and combined. The key elements of the ankle exoskeleton prototype consist of a lower leg housing, front and rear servomotor mounts, and ball joints with the aim of mimicking and supporting the natural movements of the ankle for users with walking and mobility problems. The innovation of the proposed work can be recognized in the portable mechanical design with a proper mechatronic design with four actuators that control ankle motion in all its possibilities.

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“…Mechanics and electronics, together with physiotherapy, are developing exoskeletons, which are electromechanical devices attached to limbs that can help the user move or adjust the movement of these limbs, providing automatic therapy with flexible and customizable 2 of 11 programs to improve autonomy and meet the needs of each patient. Exoskeletons can increase the effectiveness of physiotherapy and shorten the rehabilitation time of patients [5,6].…”

Section: Introductionmentioning

confidence: 99%

“…2023, 41, x 2 of 11 customizable programs to improve autonomy and meet the needs of each patient. Exoskeletons can increase the effectiveness of physiotherapy and shorten the rehabilitation time of patients [5,6].…”

Section: Introductionmentioning

confidence: 99%

Investigation of a Passive Ankle Joint Exoskeleton Designed for Movements with Dorsal and Plantar Flexion

Zhetenbayev

Balbayev

Iliev

et al. 2023

International Conference on Electronics, Engineering Physics and Earth Science (EEPES'23)

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Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance

Cited by 11 publications

References 31 publications

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

A Portable Robotic System for Ankle Joint Rehabilitation

Investigation of a Passive Ankle Joint Exoskeleton Designed for Movements with Dorsal and Plantar Flexion

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