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

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

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.

Citation

Venkata Sai Prathyush, I., Ceccarelli, M., & Russo, M. (2022). Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance. Actuators, 11(2), Article 63. https://doi.org/10.3390/act11020063

• Journal Article Type: Article
• Acceptance Date: Feb 18, 2022
• Online Publication Date: Feb 21, 2022
• Publication Date: Feb 1, 2022
• Deposit Date: Feb 28, 2022
• Publicly Available Date: Mar 1, 2022
• Journal: Actuators
• Electronic ISSN: 2076-0825
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• Volume: 11
• Issue: 2
• Article Number: 63
• DOI: https://doi.org/10.3390/act11020063
• Keywords: Control and Optimization; Control and Systems Engineering
• Public URL: https://nottingham-repository.worktribe.com/output/7511646
• Publisher URL: https://www.mdpi.com/2076-0825/11/2/63