The Objective Oriented Design of a CUBE Cable - based Parallel Robot for Arm Rehabilitation Tasks
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Date
2023-10-31
Journal Title
Journal ISSN
Volume Title
Publisher
WSEAS TRANSACTIONS on SYSTEMS
Abstract
- Rehabilitation robots have been employed for training of neural impaired subjects or for assistance
of those with weak limbs. A cube, cable-based parallel robot with eight cables designed for assisting patients in
upper-limb rehabilitation activities, with control over the end-location effector's while locking its rotation
around the horizontal and vertical axes, the device has a lightweight structure that is simple to set up and use
for home usage for both pre-determined and personalized exercises. In this context, we have limited the
tensions of the cables (always positive) and the lengths of the robot do not exceed the workspace. In addition,
the design's kinematic and dynamic studies are presented. The aim of this paper is to help the patient
rehabilitate the upper limb in axes (y-z) and (x-y) with improved patient safety, such that the arm for the patient
can move it in the two planes. The simulation exercises with solidworks and matlab software demonstrate the
effectiveness of our proposed design