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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 0002
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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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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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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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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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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.
Andreas Pott +6 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 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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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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