This paper introduces CUBE, a cable-driven parallel robot for the assistance of patients in rehabilitation exercising for both upper and lower limb. The system is characterized by a lightweight foldable structure that is easy to set-up in different configurations. It can adapt to different exercises and to the available environment. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. The design is presented with its kinematic and dynamic analysis and validated through a first prototype. © Springer Nature Switzerland AG 2019.
Design of CUBE, a cable-driven device for upper and lower limb exercising
Carbone Giuseppe
2019-01-01
Abstract
This paper introduces CUBE, a cable-driven parallel robot for the assistance of patients in rehabilitation exercising for both upper and lower limb. The system is characterized by a lightweight foldable structure that is easy to set-up in different configurations. It can adapt to different exercises and to the available environment. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. The design is presented with its kinematic and dynamic analysis and validated through a first prototype. © Springer Nature Switzerland AG 2019.File in questo prodotto:
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