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Actuators
Volume 11
Issue 2
10.3390/act11020063
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Article

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

by
Idumudi Venkata Sai Prathyush
1,
Marco Ceccarelli
2,* and
Matteo Russo
3
1
Department of Mechanical Engineering, Birla Institute of Technology and Science Pilani, Hyderabad 500078, India
2
LARM2: Laboratory of Robot Mechatronics, University of Rome “Tor Vergata”, 00133 Rome, Italy
3
The Rolls-Royce UTC in Manufacturing and On-Wing Technology, Faculty of Engineering, University of Nottingham, Nottingham NG8 1BB, UK
*
Author to whom correspondence should be addressed.
Actuators 2022, 11(2), 63; https://doi.org/10.3390/act11020063
Submission received: 27 January 2022 / Revised: 18 February 2022 / Accepted: 18 February 2022 / Published: 21 February 2022
(This article belongs to the Special Issue Dynamics and Control of Robot Manipulators)
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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.
Keywords: cable-driven robots; control design; motion assistance cable-driven robots; control design; motion assistance

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MDPI and ACS Style

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

AMA Style

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

Chicago/Turabian Style

Venkata Sai Prathyush, Idumudi, Marco Ceccarelli, and Matteo Russo. 2022. "Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance" Actuators 11, no. 2: 63. https://doi.org/10.3390/act11020063

APA Style

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

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