Torque control of a push-pull cable driven powered orthosis for the CORBYS platform

摘要

Rehabilitation robotics is a growing field which is on the verge of exploring novel actuation technologies that allows the designers to build assistive devices with large power to weight ratios without compromising the transparency of the system. In this paper a novel push-pull cable driven technology implemented in the CORBYS rehabilitation system as a solution for a proximally actuated device is presented. A novel torque control strategy enhanced with a machine learning compensation method is proposed to deal with the inherent complexities of the system. Experiments will show results obtained on the powered exoskeleton part of the platform.