| Description |
This dissertation focuses on the development of a modular cable-driven robot and its applications in rehabilitation. The development section of the dissertation comprises the system mechanical design, two control algorithm developments (one simple Proportional Integral (PI) controller and one Repetitive controller (RC) in parallel with PI controller), and system integration in the already existing advanced robotic locomotion interface called the Treadport. Due to the modularity of the robot, the cables can be directed to different positions, which would result in various cable approach angles on the user and, therefore, can be used for different applications. The applications in this dissertation are divided in two scenarios. The first proposed application of the robot was as a body-weight-support (BWS) system where three cables are routed down from three points of the Treadport's ceiling (forming a triangle) and merge to a point on a padded bar that is attached to the user harness. For the second application, the robot is used as a side-force generator. For this application, cables are routed down to the user's pelvis height level. Validation studies have been conducted to analyze the performance of the designed system and control algorithms, and one application has been introduced for each of the cable routing configurations. For the BWS configuration, a study was conducted to compare walking on real and virtual slopes using the combination of the BWS system and the Treadport's tether arm (which can push/pull the user). For the side-force generating configuration, a study was proposed with two hemiparetic patients, where gait-synchronized side forces were applied to the patients' pelvis and the effects of the side forces on their muscle activation and gait symmetry are investigated. |
