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Gait training of stroke survivors can help in retraining their muscles and improving their gait pattern. Robot assisted gait training (RAGT) was developed for stroke survivors using ALEX and force-field controller, which use assist-as-needed paradigm for rehabilitation. In this paradigm undesirable gait motion is resisted and assistance is provided towards the desirable motion. The force-field controller...
This paper deals with the characterization of the feasible workspace of set-point control for a cable suspended robot. The motivation behind this work is to find admissible set points for the system under disturbances as well as input constraints. The main ideas are: (i) designing a sliding mode controller as a stabilizing controller for the given uncertain system, (ii) finding the range of system...
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