TY - GEN
T1 - Design and control of two planar cable-driven robots for upper-limb neurorehabilitation
AU - Rosati, Giulio
AU - Zanotto, Damiano
AU - Secoli, Riccardo
AU - Rossi, Aldo
PY - 2009
Y1 - 2009
N2 - Post-stroke robot-aided neurorehabilitation is an emerging research field, aiming to improve the intensity and the effectiveness of post-stroke rehabilitation protocols by using robotic technology and virtual reality. One classification that has been proposed for therapy robots is between exoskeletons and end-effector based machines. The latter are those devices whose interaction with the patient's arm takes place at the end-effector level. This paper presents the design of two novel end-effector based robots for upper-limb rehabilitation, named Sophia-4 and Sophia-3. Although the devices are based on a common concept (the cable-drive actuation over a planar workspace), the latter differs from the former by the number of employed cables (4 and 3, respectively), and, by several design solutions, such as the introduction of a moving pulley-block to enhance workspace and a tilting table to better target the patient's shoulder. Both mechanical and control system design are addressed and a comparison of performances is presented.
AB - Post-stroke robot-aided neurorehabilitation is an emerging research field, aiming to improve the intensity and the effectiveness of post-stroke rehabilitation protocols by using robotic technology and virtual reality. One classification that has been proposed for therapy robots is between exoskeletons and end-effector based machines. The latter are those devices whose interaction with the patient's arm takes place at the end-effector level. This paper presents the design of two novel end-effector based robots for upper-limb rehabilitation, named Sophia-4 and Sophia-3. Although the devices are based on a common concept (the cable-drive actuation over a planar workspace), the latter differs from the former by the number of employed cables (4 and 3, respectively), and, by several design solutions, such as the introduction of a moving pulley-block to enhance workspace and a tilting table to better target the patient's shoulder. Both mechanical and control system design are addressed and a comparison of performances is presented.
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U2 - 10.1109/ICORR.2009.5209551
DO - 10.1109/ICORR.2009.5209551
M3 - Conference contribution
AN - SCOPUS:70449378677
SN - 9781424437894
T3 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
SP - 560
EP - 565
BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
T2 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Y2 - 23 June 2009 through 26 June 2009
ER -