2026-10-09T03:22:24Z https://admin.olos.swiss/oai-info/oai-provider/oai

oai:olos.swiss:olos:fb485e70-efde-4666-a870-6d11a59d3fca 2026-06-10T06:13:54Z doi-registration orgunit

Control Strategies for a Cable-Driven Arm Swing Actuation System: First Experimental Results Fang, Juan Haldimann, Michael Riener, Robert OLOS.swiss, OLOS 2026 Issued: 2026-04-03T00:00:00Z Collected: 2025-08-24T00:00:00Z/2025-09-30T00:00:00Z Created: 2026-04-03T18:23:20Z Updated: 2026-06-10T06:13:43Z Accepted: 2026-06-10T06:13:43Z doi:10.34914/olos:p6ttcbtf3jhwxfmsyjsgtez63q https://olos.swiss/portal//archives/fb485e70-efde-4666-a870-6d11a59d3fca ark:99999/fk9p6ttcbtf3jhwxfmsyjsgtez63q Cable-driven actuator force control movement guidance admittance control impedance control arm swing rehabilitation robotic system These datasets are related to the research project funded by Swiss National Science Foundation, grant number 32HW-0_220453. These datasets are associated with the article: Juan Fang, Michael Haldimann, and Robert Riener, "Control Strategies for a Cable Driven Arm Swing Actuation System: First Experimental Results" published in the Journal of Rehabilitation Methods and Technologies. This study carried out a preliminary investigation on the generation of assisted arm swing through two cable-driven actuators (CDAs), with a focus on development of force and motion control strategies. The datasets include our test results from two control strategies the CDAs: (1) an impedance controller with direct force control in torque mode, and (2) an admittance controller with indirect force control in speed mode. The data show that the impedance algorithms enabled good guidance for trajectory tracking when the CDA was operated alone. However, joint operation of two CDAs showed vibration. In contrast, the admittance algorithms enable the two CDAs to produce stable and adaptive arm swing. [7809b3ff-ed61-439b-9f94-ed0f5cc0305b] BFH - Institute for Human Centered Engineering (HUCE) Stalder, Désirée Pfyffer, Samuel Scheuner, Marc Dataset text/plain application/vnd.openxmlformats-officedocument.spreadsheetml.sheet text/xml PUBLIC https://www.dlcm.ch/access-level/final BLUE https://www.dlcm.ch/data-tag LICENSE https://www.dlcm.ch/data-use-policy Creative Commons Attribution 4.0 International https://creativecommons.org/licenses/by/4.0/