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Simple cable-driven manipulator system as laboratory assistant
Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, 2010The low cost computer teleoperation system with a simple cable-driven manipulator is presented. The system is dedicated to employ it in small workspaces of laboratories with hazardous materials. It has been designed to play a role of a versatile laboratory assistant and to make replace laboratory staff in all actions that can be dangerous to human ...
Janusz Baczynski, Michal Baczynski
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On the Design of Adaptive Cable-Driven Systems
Journal of Mechanisms and Robotics, 2011Several systematic approaches have been developed for the optimal design of cable-based systems. Global indices are usually employed to quantify the effectiveness of a specific design inside a reference region of the workspace. The performances at the moving platform are strictly related to cable configuration, which, in turn, depends on the pose of ...
ROSATI, GIULIO, Zanotto D, Agrawal SK
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A Novel Perspective in the Design of Cable-Driven Systems
Volume 12: Mechanics of Solids, Structures and Fluids, 2008This paper deals with a novel approach to the design of cable-driven systems. This kind of robots possesses several desirable features that distinguish them from common manipulators, such as: low-inertia, cost-effectiveness, safety, easy reconfiguration and transportability.
ROSATI, GIULIO, ZANOTTO D.
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Simple system for determining starting position of cable-driven manipulator
2010 International Conference on Computer Information Systems and Industrial Management Applications (CISIM), 2010The very simple and low cost linear position reader is presented. The position reader has been designed and employed for the specific cable-driven manipulator. The considered cable-pulley manipulator is the standard inverted Stewart platform improved to increase its operation ability in small workspaces.
Janusz Baczynski, Michal Baczynski
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Direct inverse control of cable-driven parallel system based on type-2 fuzzy systems
Information Sciences, 2015zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Yao-yao Wang
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Design of a cable-driven ankle rehabilitation system (C-DARS)
2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014This paper presents a cable-driven ankle rehabilitation system (C-DARS). The proposed system is designed to easily apply the ankle rehabilitation treatment for multi-users. A small and light connecting part is attached to an orthosis worn by a patient, and the required force for the rehabilitation treatment is transmitted by a cable-driven mechanism ...
Jihoon Kim, Joonbum Bae
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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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An asymmetric cable-driven mechanism for force control of exoskeleton systems
Mechatronics, 2016In this paper, an asymmetric cable-driven mechanism is proposed for accurate force control of exoskeleton systems with a compact structure. Inspired by the fact that the required forces in human motions are not symmetric in many cases, a spring-actuator type cable-drive mechanism is adopted, which enables a compact cable routing structure. The joint is
Yeongtae Jung, Joonbum Bae
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A Cable Driven Robotic System to Train Finger Function After Stroke
2007 IEEE 10th International Conference on Rehabilitation Robotics, 2007This paper presents a novel robotic interface to train intrinsic finger movements. The mechanical design, base on a cable system interacting with the fingers, offers the possibility of adapting the interface to accommodate various hand sizes and finger orientation.
Ludovic Dovat +8 more
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Adaptive Arm Weight Support Using a Cable-Driven Robotic System
2016Many stroke and spinal cord injured (SCI) patients suffer from a paretic arm movement, which can be characterized by a limited shoulder flexion. We consider a possibility to assist the patient in slow arbitrary arm flexions within a large range of motion.
Sven Knuth +5 more
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