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Adaptive Robust Control of the Cable Driven System for Position Tracking
2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA), 2020In this paper, an actuation redundancy system is presented based on wire rope driven, which can achieve high-precision and fast response by the use of flexible cables instead of rigid links. However, due to the unilateral force of the cable and parameters uncertainty in the system, control of this flexible system is more challenging.
Bin Li +3 more
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LaryngoTORS: A Novel Cable-Driven Parallel Robotic System for Transoral Laser Phonosurgery
IEEE Robotics and Automation Letters, 2020Transoral laser phonosurgery is a commonly used surgical procedure in which a laser beam is used to perform incision, ablation or photocoagulation of laryngeal tissues. Two techniques are commonly practiced: free beam and fiber delivery . For free beam delivery, a laser scanner is integrated into a surgical microscope to provide an accurate laser ...
Ming Zhao +5 more
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Preliminary Experimental Validation of a Cable-Driven Joint System for Custom Orthoses
2024 46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)Robot-assisted gait training has the potential to enhance gait therapy for children with mobility impairments. Robotic orthoses are designed to improve therapy session quality, but have shortcomings regarding compactness, weight, usability, and wearer comfort.
Jason J. Wiebrecht +3 more
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Enhanced performances for cable-driven flexible robotic systems with asymmetric backlash profile
2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2015Cable-conduit mechanism (CCM) or tendon-sheath mechanism (TSM) is widely used in many flexible robotic systems such as prosthetic hand robots, rehabilitation robots, and surgical robots because it offers efficient transmission of forces/torques from the external actuator to the end effector with light weight and high flexibility.
Thanh Nho Do +3 more
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Proxy-based impedance control of a cable-driven assistive system
Mechatronics, 2013Abstract In rehabilitation robotics, rehabilitation algorithms determine an appropriate magnitude and direction of assistive force, which is to help the patient perform desired motions. In this paper, proxy-based impedance control is proposed as a possible rehabilitation algorithm of a cable-driven assistive system that is designed for rehabilitation
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Best Operation Regions in a Planar Cable Driven System
2022Leonardo Mejia +3 more
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Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots
2019Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system ...
Andrés García-Vanegas +4 more
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Cable-Driven Parallel Robot Controlled by Servo-Vision System
2022Andrés García-Vanegas +4 more
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Implementation of cable-driven waist rehabilitation robotic system using fractional-order controller
Mechanism and Machine Theory, 2023Bin Zi, Huafeng Ding
exaly