Independent position-stiffness control for elbow rehabilitation robot with cable-based series elastic actuator

Abstract

rehabilitation robots should be able to adapt with physical characteristics of patient body in order to provide a safe and comfortable interaction. In this paper, an elbow rehabilitation robot with novel cable-based series elastic actuator is proposed. The cable actuation mechanism provides two parameters to adjust actuation torque and joint stiffness. An independent position-stiffness control algorithm is designed to independently control position and stiffness through the cablebased series elastic actuator. Finally, a simulation-based examination is used to illustrate ability of the elbow rehabilitation robot in providing appropriate elbow stiffness during the flexion and the extension movements.

Dynamic Feedback Control And State Observers For A Knee Rehabilitation Device Using Soft Action

“…Similarly, Erwin &O'Malley (2017) analyze joint properties, such as passive stiffness and range of motion(ROM) for wrist mobility recovery. In the same context, the work developed by Parivash & Bamdad (2015) proposes an elbow rehabilitation robot with a novel, cable-based series elastic actuator that allows adjustment of the drive torque and joint stiffness, to provide proper elbow stiffness during the flexionextension movements. Other examples of devices that provide assisted motions are presented for example in Jujjavarapu & Esfahani (2019), where a method to vary the stiffness of the endpoint using a variable impedance mechanism, using permanent magnets that seeks to reduce the interference of the stiffness in the human final effector is proposed.…”