Next Article in Journal
Fatigue Behaviour of Metallic Materials Under Hydrogen Environment: Historical Perspectives, Recent Developments, and Future Prospects
Previous Article in Journal
Testing Concrete for the Construction of Winemaking Tanks
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Applied Sciences
Volume 15
Issue 14
10.3390/app15147817
applsci-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy

by
Iñaki Dellibarda Varela
1,
Pablo Romero-Sorozabal
1,
Gabriel Delgado-Oleas
1,2,
Jorge Muñoz
1,
Álvaro Gutiérrez
3,* and
Eduardo Rocon
1
1
Centro de Automática y Robótica, Consejo Superior de Investigaciones Científicas (CSIC-UPM), 28500 Madrid, Spain
2
Ingeniería Electrónica, Universidad del Azuay, Cuenca 010107, Ecuador
3
ETSI Telecomunicación, Universidad Politécnica de Madrid (UPM), 28040 Madrid, Spain
*
Author to whom correspondence should be addressed.
Appl. Sci. 2025, 15(14), 7817; https://doi.org/10.3390/app15147817
Submission received: 26 May 2025 / Revised: 30 June 2025 / Accepted: 9 July 2025 / Published: 11 July 2025
(This article belongs to the Special Issue Advances in Cable Driven Robotic Systems)
Versions Notes

Featured Application

The use of Cable-Driven Parallel Robots for the development of exoskeletons for gait rehabilitation has great potential due to the control they allow over movements and the flexibility they give to patients.

Abstract

Cerebral palsy is the leading cause of motor disability in early childhood, with no curative treatment currently available. To mitigate its effects and promote motor rehabilitation, robotic-assisted therapies have emerged as a complement to conventional physiotherapy. In particular, cable-driven exoskeletons offer notable advantages, providing patients with additional mobility and interaction with their environment while preserving motion assistance. Within this context, the Discover2Walk project introduces a modular cable-driven robotic platform designed for early-stage gait rehabilitation. This article presents a novel ankle control module capable of actuating 3 degrees of freedom: 2 translational (in the x and z directions) and 1 rotational (dorsiflexion/plantarflexion). Experimental results confirm the technical feasibility of the approach and its effectiveness in guiding motion within the targeted degrees of freedom.
Keywords: modular exoskeleton; cable actuation; cerebral palsy; impedance control; robot-assisted therapy; bio-inspired architecture; assisted-as-needed modular exoskeleton; cable actuation; cerebral palsy; impedance control; robot-assisted therapy; bio-inspired architecture; assisted-as-needed

Share and Cite

MDPI and ACS Style

Varela, I.D.; Romero-Sorozabal, P.; Delgado-Oleas, G.; Muñoz, J.; Gutiérrez, Á.; Rocon, E. Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy. Appl. Sci. 2025, 15, 7817. https://doi.org/10.3390/app15147817

AMA Style

Varela ID, Romero-Sorozabal P, Delgado-Oleas G, Muñoz J, Gutiérrez Á, Rocon E. Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy. Applied Sciences. 2025; 15(14):7817. https://doi.org/10.3390/app15147817

Chicago/Turabian Style

Varela, Iñaki Dellibarda, Pablo Romero-Sorozabal, Gabriel Delgado-Oleas, Jorge Muñoz, Álvaro Gutiérrez, and Eduardo Rocon. 2025. "Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy" Applied Sciences 15, no. 14: 7817. https://doi.org/10.3390/app15147817

APA Style

Varela, I. D., Romero-Sorozabal, P., Delgado-Oleas, G., Muñoz, J., Gutiérrez, Á., & Rocon, E. (2025). Cable-Driven Exoskeleton for Ankle Rehabilitation in Children with Cerebral Palsy. Applied Sciences, 15(14), 7817. https://doi.org/10.3390/app15147817

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop