Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

Purpose: The purpose of this paper is to design an exoskeleton robot and present a corresponding rehabilitation training method for patients in different rehabilitation stages. Design/methodology/approach: This paper presents a lightweight seven-degrees-of-freedom (DOF) cable-driven exoskeleton robot that is wearable and adjustable. After decoupling joint movement caused by a cable-driven mechanism, active rehabilitation training mode and passive rehabilitation training mode are proposed to improve the effect of rehabilitation training. Findings: Simulations and experiments have been carried out, and the results validated the feasibility of the proposed mechanism and methods by a fine rehabilitative effect with different persons. Originality/value: This paper designed a 7-DOF cable-driven exoskeleton robot that is suitable for patients of different body measurements and proposed the active rehabilitation training mode and passive rehabilitation training mode based on the cable-driven exoskeleton robot.