A Convolutional Dynamic-Jerk-Planning Algorithm for Impedance Control of Variable-Stiffness Cable-Driven Manipulators [PDF]
Micromachines, 2022 Cable-driven manipulators, characterized by slender arms, dexterous motion, and controllable stiffness, have great prospects for application to capture on-orbit satellites.
Luyang Zhang +6 more
doaj +2 more sources
Modeling and control of a bedside cable-driven lower-limb rehabilitation robot for bedridden individuals [PDF]
Frontiers in Bioengineering and Biotechnology, 2023 Individuals with acute neurological or limb-related disorders may be temporarily bedridden and unable to go to the physical therapy departments. The rehabilitation training of these patients in the ward can only be performed manually by therapists ...
Daoyu Wang +7 more
doaj +2 more sources
Planning wrench-feasible motions for cable-driven hexapods [PDF]
IEEE Transactions on Robotics, 2016 Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to keep the control of the robot-
Bohigas Nadal, Oriol +2 more
core +7 more sources
Bi-Planar Trajectory Tracking with a Novel 3DOF Cable Driven Lower Limb Rehabilitation Exoskeleton (C-LREX) [PDF]
Sensors, 2023 Although Cable-driven rehabilitation devices (CDRDs) have several advantages over traditional link-driven devices, including their light weight, ease of reconfiguration, and remote actuation, the majority of existing lower-limb CDRDs are limited to ...
Rajan Prasad +4 more
doaj +2 more sources
Towards Human-like Walking with Biomechanical and Neuromuscular Control Features: Personalized Attachment Point Optimization Method of Cable-Driven Exoskeleton [PDF]
Frontiers in Aging NeuroscienceThe cable-driven exoskeleton can avoid joint misalignment, and is substantial alterations in the pattern of muscle synergy coordination, which arouse more attention in recent years to facilitate exercise for older adults and improve their overall quality
Yasheng Chen +5 more
doaj +2 more sources
Development of an Active Cable-Driven, Force-Controlled Robotic System for Walking Rehabilitation [PDF]
Frontiers in Neurorobotics, 2021 In a parallel development to traditional rigid rehabilitation robotic systems, cable-driven systems are becoming popular. The robowalk expander product uses passive elastic bands in the training of the lower limbs.
Juan Fang +4 more
doaj +2 more sources
Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads [PDF]
Micromachines, 2022 Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF).
Long Huang +3 more
doaj +2 more sources
An Autotuning Cable-Driven Device for Home Rehabilitation. [PDF]
J Healthc Eng, 2021 Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent.
Rodríguez-León JF +3 more
europepmc +5 more sources
New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots [PDF]
Sensors, 2021 Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables.
Guillermo Rubio-Gómez +7 more
doaj +2 more sources
Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot [PDF]
Sensors, 2020 Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to study ...
Yan Lin Wang +3 more
doaj +2 more sources