A novel switching control scheme for rehabilitation of the lower limbs of a human body

Document Type : Research Paper


1 Babol Noshirvani University of Technology

2 Babol Noshirvani University of Technology, Babol, Iran

3 Babol University of Medical Sciences, Babol, Iran


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.


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