Articles | Volume 14, issue 2
Research article
09 Oct 2023
Research article |  | 09 Oct 2023

Motion planning and control strategy of a cable-driven body weight support gait training robot

Tao Qin, Qianpeng Wang, Wei Su, Chao Wei, Yanduo Zhang, and Jianwei Zhang

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Barbosa, A. M., Carvalho, J. C. M., and Gonçalves, R. S.: Cable-driven lower limb rehabilitation robot, J. Braz. Soc. Mech. Sci., 40, 1–11,, 2018. 
Chen, Q., Zi, B., Sun, Z., Li, Y., and Xu, Q.: Design and development of a new cable-driven parallel robot for waist rehabilitation, IEEE-ASME T. Mech., 24, 1497–1507,, 2019. 
DeLisa, J. A.: Gait analysis in the science of rehabilitation, Scientific and Technical Publications Section, Washington D.C., (last access: September 2023), 1998. 
Dong, M., Zhou, Y., Li, J., Rong, X., Fan, P., Zhou, X., and Kong, Y.: State of the art in parallel ankle rehabilitation robot: a systematic review, J. NeuroEng. Rehabil., 18, 1–15,, 2021. 
Ghrairi, K., Chaker, A., Salah, S., and Bennour, S.: Development of a cable-driven parallel robots for functional rehabilitation, design and modeling of mechanical systems Springer, Cham, 554–563,, 2023. 
Short summary
A cable-driven body weight support gait training robot (C-BWSGTR) was designed to help provide patients with partial body weight support and a stable walking driving force to assist gait rehabilitation training. Overall configuration, kinematic modeling, and motion planning were carried out, and a position servo composite control strategy was designed. Simulation analysis and the prototype experiment verified that the designed control strategy met the requirements of the system.