Cable-Driven Lower-Limb Rehabilitation Robot Control
MSc thesis project on simulation and control of a planar 3-joint lower-limb rehabilitation robot using CTC and residual DDPG under disturbances and uncertainties.
This project contains MATLAB, Simulink, and Simscape simulations developed for my MSc thesis in robotics and control.
The work focuses on trajectory tracking for a planar cable-driven lower-limb rehabilitation robot. The main control framework compares conventional model-based control with a residual reinforcement-learning structure under disturbances and parametric uncertainties.
Main topics include robot modeling, trajectory generation, computed-torque control, cable-driven actuation, disturbance injection, and tracking-error analysis.