Design issues and application of cable-based parallel manipulators for rehabilitation therapy

Article type: Research Article

Authors: Ottaviano, E.

Affiliations: LARM: Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Cassino, Italy

Note: [] Corresponding author. Email: ottaviano@unicas.it

Abstract: In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.

Keywords: parallel robots, cable-based systems, rehabilitation therapy, experimental robotics

DOI: 10.1080/11762320802373701

Journal: Applied Bionics and Biomechanics, vol. 5, no. 2, pp. 65-75, 2008