Related Experiment Video
Updated: Nov 3, 2025
Author Spotlight: Assessing Brain Activity in Robotic-Assisted Lower Limb Rehabilitation Using fNIRS
Published on: June 7, 2024
Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation
Juan Fang1, Michael Haldimann1, Laura Marchal-Crespo2,3
1Division of Mechanical Engineering, Department of Engineering and Information Technology, Institute for Rehabilitation and Performance Technology, Bern University of Applied Sciences, Burgdorf, Switzerland.
This study developed an active cable-driven robotic system for walking rehabilitation, replacing passive bands with controlled cables. Force control algorithms enable precise assistance or resistance for effective muscle training and relearning locomotion.
Area of Science:
- Robotics
- Rehabilitation Engineering
- Control Systems
Background:
- Cable-driven robotic systems offer an alternative to traditional rigid rehabilitation robots.
- Current systems like the robowalk expander use passive elastic bands, limiting controlled force application.
- Effective walking relearning and muscle training require well-controlled assistance or resistance.
Purpose of the Study:
- To develop an active cable-driven robotic system for walking rehabilitation.
- To evaluate force control strategies for regulating cable tensions during locomotion.
- To assess the system's potential for providing user-defined assistance or resistance.
Main Methods:
- Replaced passive elastic bands with actuator-driven cables in the robowalk expander.
- Implemented force control algorithms, including force-feedback lead controllers and velocity-feedforward lead compensators.
- Determined system parameters via experiment-assisted simulation and evaluated performance using frequency-domain analysis.
Main Results:
- Force-feedback lead controllers achieved a 5.5% mean error in static force tracking.
- Dynamic tests showed a 13.2% mean error, reduced to 9% with velocity-feedforward compensators.
- The combined system demonstrated a 10.3% mean force-tracking error during treadmill walking, maintaining constant force.
Conclusions:
- The developed force control algorithms are technically feasible for active cable-driven robotic systems.
- The system can provide precise, user-defined assistance or resistance for rehabilitation and fitness.
- This technology holds significant potential for enhancing lower limb training and recovery.
