Reference-model-based control including human torque estimation for cable-driven rehabilitation system

Nery U.O. Gutierrez

doi:10.1016/j.ifacsc.2026.100403

Reference-model-based control including human torque estimation for cable-driven rehabilitation system

2026-03-01

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Márcia L.C. Peixoto *

DOI：10.1016/j.ifacsc.2026.100403

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This paper presents a reference-model-based control strategy for human-interactive rehabilitation devices designed to ensure robust assistance during movement. The proposed approach combines feedforward and feedback actions to control the nonlinear system along physiotherapist-defined trajectories. The human torque, which represents the patient's contribution to movement, is estimated in real-time using a Proportional-Integral Observer. This real-time estimation allows the system to adjust the level of assistance according to the user's capabilities. Experimental validation in a prototype demonstrates the effectiveness of the proposed approach. (c) 2026 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

Keywords:

Cable-driven orthosis

Rehabilitation

PI-observer

Robust control

Linear matrix inequalities

Reference-model-based control including human torque estimation for cable-driven rehabilitation system

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