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Self-Calibration of Cable Driven Continuum Robot
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018Continuum structured robot has been investigate in many years due to their highly flexible properties and high number of degrees of freedom (DOF). To address the strong compliance these robots are usually have low kinematic accuracy. In addition, the inevitable manufacturing tolerance, wear of connecting mechanisms will also resulting the geometric ...
Tianjiang Zheng +6 more
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Attitude Stability of a Cable Driven Balloon Robot
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006At the time of a large-scale urban earthquake disaster, human search activities and information collection are the most important processes of rescue operations. Robots for search and rescue (e.g., aero-robots, crawler type robots) have been studied extensively recently.
Fumiaki Takemura +2 more
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Cable-Driven Jamming of a Boundary Constrained Soft Robot
2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020Soft robots employ flexible and compliant materials to perform adaptive tasks and navigate uncertain environments. However, soft robots are often unable to achieve forces and precision on the order of rigid-bodied robots. In this paper, we propose a new class of mobile soft robots that can reversibly transition between compliant and stiff states ...
Koki Tanaka +8 more
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On the workspace of suspended cable-driven parallel robots
2016 IEEE International Conference on Robotics and Automation (ICRA), 2016no ...
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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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Tension research of a cable-driven biomimetic shoulder robot
2010 IEEE International Conference on Robotics and Biomimetics, 2010In cable-driven 3-DOF (Degree of Freedom) robot, cable is only to be stretched but not compressed. It is significant to research the cable tension. It is easy to analyze assignment situation of cable tension by geometry. Tension coefficient is proposed as the appraisal for tension assignment.
Weihai Chen +3 more
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Wrench-feasible workspace generation for cable-driven robots
IEEE Transactions on Robotics, 2006This paper presents a method for analytically generating the boundaries of the wrench-feasible workspace (WFW) for cable robots. This method uses the available net wrench set, which is the set of all wrenches that a cable robot can apply to its surroundings without violating tension limits in the cables.
Paul Bosscher +2 more
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Control of cable-driven parallel robot for gait rehabilitation
2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2015We report the control and simulation of a planar cable-driven parallel robot with four cables. The application of the robot is to fully control the lower limb, shank, for gait rehabilitation. The main challenge in control of the cable-driven parallel robot is to avoid negative cable tensions during dynamic motions.
Soheil Gharatappeh +3 more
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Stability Analysis of Underconstrained Cable-Driven Parallel Robots
IEEE Transactions on Robotics, 2013no ...
CARRICATO, MARCO, Merlet J. P.
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