In this paper, we present a passive device for swing assistance of motor-incomplete spinal cord injury patients. This device is aimed at reducing the physical demands on the therapists during treadmill training. We model the human leg as two links and a point foot mass, with a moving trunk. We employ passive elements in the design which get charged by the treadmill. Using the system dynamics, we optimize the design parameters to obtain a feasible swing motion of the leg. An exoskeleton was constructed based on these design parameters and tests were performed on a healthy subject at different treadmill speeds.

Cable robots have been extensively used for the loading and unloading of cargo in shipping industries. In this paper, we look at a two-stage cable robot, i.e., a cable robot with two moving platforms connected in series. Sea conditions introduce disturbance into the system. This disturbance is considered while modeling the dynamics of the two-stage cable robot. A robust controller is designed which can assure robust tracking of the desired end-effector trajectory in the presence of the disturbance. The simulation results presented show the effectiveness of the controller.