Assist-as-needed control in a cable-actuated robot for human joints rehabilitation

This paper presents a low-cost cable-actuated robot with a single degree of freedom for human joints rehabilitation, using assist-as-needed control strategy. A serious game was developed to provide visual feedback and encourage patients. Movements to be performed are taught using teaching-byshowing strategy and, during its execution, related data are collected and can contribute to patient’s diagnosis, performance evaluation, and progress tracking. A device validation was performed and the results showed high accuracy and repeatability levels. DOI: https:/doi.org/10.24243/JMEB/3.5.214 2019. Published by Rational Publication. This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/ or send a letter to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA. Research Article