ArticleFrontiers in bioengineering and biotechnology2023
Modeling and control of a bedside cable-driven lower-limb rehabilitation robot for bedridden individuals.
Article in Frontiers in bioengineering and biotechnology, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers, 1 of them a synthesis that pooled it.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
5 citing papers in PubMed, 1 synthesis or guideline pooled it, 7 citations in OpenAlex.
- The past, present and future of control architectures in lower-limb cable-driven robots for gait rehabilitation.Journal of neuroengineering and rehabilitation · 2026Pooled it
- Effects of semi-independent bedside rehabilitation of the upper limb assisted with a mobile wrist-hand exoneuromusculoskeleton (ENMS) for inpatients with subacute stroke: a randomized controlled trial (RCT).Journal of neuroengineering and rehabilitation · 2026Trial
- Efficacy of suspension-based lower-limb rehabilitation device in enhancing lower limb function among patients with ICU-acquired weakness: a self-controlled randomized clinical trial.Critical care (London, England) · 2026Trial
- Progress-driven sampling and multi-channel extension for bidirectional manipulator path planning in constrained environments.Scientific reports · 2026Article
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Corrections and comments
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Authors and funding
6 authors at 4 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Individuals with acute neurological or limb-related disorders may be temporarily bedridden and unable to go to the physical therapy departments. The rehabilitation training of these patients in the ward can only be performed manually by therapists because the space in inpatient wards is limited. This paper proposes a bedside cable-driven lower-limb rehabilitation robot based on the sling exercise therapy theory. The robot can actively drive the hip and knee motions at the bedside using flexible cables linking the knee and ankle joints. A human-cable coupling controller was designed to improve the stability of the human-machine coupling system. The controller dynamically adjusts the impedance coefficient of the cable driving force based on the impedance identification of the human lower-limb joints, thus realizing the stable motion of the human body. The experiments with five participants showed that the cable-driven rehabilitation robot effectively improved the maximum flexion of the hip and knee joints, reaching 85° and 90°, respectively. The mean annulus width of the knee joint trajectory was reduced by 63.84%, and the mean oscillation of the ankle joint was decreased by 56.47%, which demonstrated that human joint impedance identification for cable-driven control can effectively stabilize the motion of the human-cable coupling system.
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