Document Type : Research Articles
Authors
1 Department of Electrical Engineering, National University of Skills, Tehran, Iran
2 Faculty of Mechanics, Electrical Power, and Computer, Islamic Azad University Science and Research Branch, Tehran, Iran
Abstract
Low back pain and spinal disorders are widespread issues affecting individuals globally, often requiring effective rehabilitation methods. This paper proposes a cable-driven parallel robot designed to assist in rehabilitation by moving patients' legs along frontal and sagittal axes. A novel Current Iterative Learning Control (CILC) algorithm is introduced to enhance the system's precision and reliability. The CILC ensures the convergence of system states and outputs to desired trajectories, maintaining bounded tracking errors even under disturbances, noise, or initial condition inaccuracies. Simulations demonstrate the controller's effectiveness when applied to the robotic structure, highlighting its potential for accurate and robust rehabilitation applications. By addressing challenges such as system nonlinearity and external uncertainties, the proposed solution offers a promising advancement in electromechanical rehabilitation equipment. This innovation not only improves patient outcomes but also provides a cost-effective and adaptable tool for diverse therapeutic needs. The integration of advanced control strategies with robotic systems marks a significant step forward in spinal rehabilitation technology.
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