Iranian Journal of Mechanical Engineering Transactions of the ISME

Iranian Journal of Mechanical Engineering Transactions of the ISME

A Novel Switching Control Scheme for Rehabilitation of the Lower Limbs of a Human Body

Document Type : Research Paper

Authors
Farhad Rezvani 1
Hamidreza Mohammadi Daniali 2
Khodabakhsh Javanshir 3
1 Ph.D. Candidate, Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran
2 Professor, Department of Mechanical Engineering, Babol Noshirvani University of Technology, Babol, Iran
3 Associate Professor, Physical Therapy Department, Faculty of Rehabilitation, Babol University of Medical Sciences, Babol, Iran
10.30506/jmee.2024.2015439.1331
Abstract
This paper presents a novel algorithm for the control of a 2D rehabilitation cable robot for the lower limb, addressing the dynamic model of the lower limb movements in the sagittal plane. Considering the nonlinear dynamic interactions between subsystems, the proposed control algorithm utilizes impedance control for torque and position control in knee and hip during passive and active-assistive rehabilitation modes. A switching algorithm is implemented for the cable forces. The system features two connected cables for each limb, with one active cable at any given time, positioned at the front and back, aiming to enhance patient comfort and perception of rehabilitation. The simulation results indicate a short run-time and negligible tracking error in torque and position for the limb.
Keywords
Cable robot
Sagittal plane
Impedance control
Rehabilitation mode
Switching algorithm

Subjects

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