Control strategies for gait tele-rehabilitation system based on parallel robotics

Antonio P.L. Bo, Leslie Casas, Gonzalo Cucho-Padin, Mitsuhiro Hayashibe, Dante Elias

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Among end-effector robots for lower limb rehabilitation, systems based on Stewart–Gough platforms enable independent movement of each foot in six degrees of freedom. Nevertheless, control strategies described in recent literature have not been able to fully explore the potential of such a mechatronic system. In this work, we propose two novel approaches for controlling a gait simulator based on Stewart–Gough platforms. The first strategy provides the therapist direct control of each platform using movement data measured by wearable sensors. The following scheme is designed to improve the level of engagement of the patient by enabling a limited degree of control based on trunk inclination. Both strategies are designed to facilitate future studies in tele-rehabilitation settings. Experimental results have illustrated the feasibility of both control interfaces, either in terms of system performance or user subjective evaluation. Technical capacity to deploy in tele-rehabilitation was also verified in this work.

Original languageEnglish
Article number11095
JournalApplied Sciences (Switzerland)
Issue number23
Publication statusPublished - 2021 Dec 1
Externally publishedYes


  • Gait simulator
  • Inertial sensing
  • Stewart–Gough platforms
  • Tele-rehabilitation

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


Dive into the research topics of 'Control strategies for gait tele-rehabilitation system based on parallel robotics'. Together they form a unique fingerprint.

Cite this