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Study of Effect of Cable Yielding in Cable-Driven Robotic System
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004This paper presents a method for characterizing the performance limitations imposed by the yielding of the cables in a planar robotic mechanism with a cable-driven transmission. The method involves developing a model for the cable tensions based on a rigid-body model of the system, where the tensions are considered as reaction forces.
null Xiaolei Yin, A. Bowling
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Optimization of the Geometry of a Cable-Driven Storage and Retrieval System
2019This paper addresses the improvement of the geometrical design of a rack feeder that is based on cable-driven robot technology. Here, both the forces needed to approach a storage position in the high rack as well as the stiffness need to be optimized. An effective parametrization of the platform is introduced.
Reichert, Christopher, Bruckmann, Tobias
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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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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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Cable-driven parallel robots for industrial applications: The IPAnema system family
IEEE ISR 2013, 2013Nowadays there are very little robot systems in operation in the field of medium to large-scale handling and assembly mostly due to lack of repetitive processes or shortcomings in programming and configuring such robots. In this paper we introduce a family of cable-driven parallel robot called IPAnema that are designed for industrial processes.
Pott, Andreas +6 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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A cable-driven locomotor training system for restoration of gait in human SCI
Gait & Posture, 2011A novel cable-driven robotic locomotor training system was developed to provide compliant assistance/resistance forces to the legs during treadmill training in patients with incomplete spinal cord injury (SCI). Eleven subjects with incomplete SCI were recruited to participate in two experiments to test the feasibility of the robotic gait training ...
Ming, Wu +4 more
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Energy Consumption Reduction of a Cable-Driven Storage and Retrieval System
2018This paper addresses multiple strategies to reduce the energy consumption of a rack feeder that is based on cable-driven robot technology. Here, both the hardware design and the trajectories to be followed are optimized.
Bruckmann, Tobias +2 more
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A Cable-Driven Ankle Perturbation System for Studying Reactive Balance Control
Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR)Abstract Impaired reactive responses to sudden mechanical perturbations during walking (such as slips or trips) increase the risk of falling in older adults. Reactive balance, defined as the ability to recover stability after an unexpected postural disturbance, is distinct from static (standing) and dynamic (walking) balance abilities.
Renoa Choudhury +5 more
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Best Operation Regions in a Planar Cable Driven System
2022Leonardo Mejia +3 more
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