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A review of cable-driven rehabilitation devices
Disability and Rehabilitation: Assistive Technology, 2019Purpose: To conduct a survey on the research and development of cable-driven rehabilitation devices (CDRDs). Method: This review searches in the databases of PubMed, IEEE Xplore Digital Library, Science Direct, and Google Scholar using various combinations of the following keywords: cable, wire, rehabilitation, assistance, therapy, training, robot ...
Hao, Xiong, Xiumin, Diao
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Development of Cable-driven Anthropomorphic Robot Hand
IEEE Robotics and Automation Letters, 2021This letter presents a novel design of an anthropomorphic robotic hand. By using a parallel plate knuckle with a universal joint, it is possible to achieve two degree of freedom (DOF) at a joint of a finger with wide working range in the proposed design.
Sungjae Min, Sooyeong Yi
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2018
Inertia is one of the most annoying problems in robotics. Cable driven mechanisms are characterized by their low inertia. However, when an epicyclic train is used, kinematics becomes very complicated. This paper shows a wrist, driven by a pulley tendon system. A generalized form for the Willis formula is developed.
E. Backri Kasbah +3 more
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Inertia is one of the most annoying problems in robotics. Cable driven mechanisms are characterized by their low inertia. However, when an epicyclic train is used, kinematics becomes very complicated. This paper shows a wrist, driven by a pulley tendon system. A generalized form for the Willis formula is developed.
E. Backri Kasbah +3 more
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Variable-Structure Cable-Driven Parallel Robots
2021Cable-driven parallel robots (CDPR) have seen great advances over the past two decades; however, they remain plagued by their inability to cover non-convex installation-spaces and low workspace to installation-space ratios relative to their rigid counterparts.
Mitchell Rushton, Amir Khajepour
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International Journal of Control, Automation and Systems, 2020
Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a ...
Hongseok Choi +6 more
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Impedance Control of Cable-Driven Mechanisms
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven ...
Siavash Rezazadeh, Saeed Behzadipour
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Cable-driven lower limb rehabilitation robot
Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2018This paper describes a low-cost cable-driven manipulator robot for lower limb rehabilitation, designed for the population with gait impairments, such as those with cerebral palsy or stroke. The robot is composed by a fixed base and a mobile platform (orthoses) that can be connected to one cable, or at most six, and can perform the individual movements ...
André M. Barbosa +2 more
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Cable-Driven Robots in Physical Rehabilitation
2020This chapter deals with cable-driven robots when applied in physical rehabilitation. In general, neurorehabilitation is limited to physical therapy that is delivered by clinicians and potentially augmented by robotic tools to facilitate neurorehabilitation and to reduce the consequences of central nervous system injury.
Rogério Sales Gonçalves +3 more
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A Parallel Cable-Driven Crane for Scara-Motions
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 2008This paper introduces a lower mobility parallel kinematic crane able to generate Scara motions (three translations and one rotation about a vertical axis). A crane is an underconstrained cable robot: it requires gravity acting on the traveling plate in order to tense the cables. The proposed crane can resist, to a certain extent, against outside forces
Krut, Sébastien +4 more
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Dynamic analysis of cable-driven parallel mechanisms
Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 2006A cable-driven parallel mechanism (CDPM) possesses a number of promising advantages over the conventional rigid-link mechanisms, such as simple and light-weight mechanical structure, high-loading capacity, and large workspace. However, the formulations and results obtained for the rigid-link mechanisms cannot be directly applied to CDPMs due to the ...
null Cong Bang Pham +2 more
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