The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.

中文翻译：

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电缆驱动上下肢康复机器人的设计与控制

介绍了一种电缆驱动康复机器人的设计和控制，该机器人无需任何矫形器即可轻松配置用于锻炼肘、肩、髋、膝和踝等不同关节。被动、主动辅助和主动抵抗练习是使用阻抗控制设计和实施的。控制器可以根据力反馈在练习之间切换。通过实验研究证明了所提出的控制器的有效性。该机器人首先用一个假肢进行测试，然后在测试期间用一个模仿各种类型患者的健康受试者进行测试。实验结果表明，实现了令人满意的闭环性能。