Work

Trends in Control Strategies of Parallel Robot Manipulators for Robot-Assisted Rehabilitation

Year: 2026

Type: article

Abstract: Robot-assisted rehabilitation has demonstrated significant efficacy in improving motor function among patients with physical and neurological impairments. The development of effective rehabilitation robots requires careful integration of mechanical design and control systems to ensure safe, compliant, and intention-oriented human–robot interaction while delivering appropriate therapeutic assistance and feedback. Parallel robot manipulators have increasingly gained attention in rehabilitation applications due to their superior precision, structural stiffness, and high load capacity compared to their serial counterparts. This paper presents a scoping review of control strategies specifically implemented in parallel rehabilitation robots between 2015 and 2025. The control strategies include position control, force control, compliance control, adaptive control, intelligent control, and hybrid control. Our analysis showed a progressive shift from traditional position-based control toward more sophisticated adaptive and intelligent strategies that better accommodate patient-specific needs and therapeutic requirements.

Source: Eng—Advances in Engineering

DOI: 10.3390/eng7010044

Authors: Ha T. T. Ngo, Charles C. Nguyen, Tu T. C. Duong, Tri T. Nguyen

Institutions: Catholic University of America, Ho Chi Minh City University of Technology and Engineering, University of Science and Technology - The University of Da Nang

Language: English

Topic: Prosthetics and Rehabilitation Robotics

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: gold

Estimated APC paid: $1,448