Design and control of two planar cable-driven robots for upper-limb neurorehabilitation

Giulio Rosati, Damiano Zanotto, Riccardo Secoli, Aldo Rossi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

28 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Pages560-565
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009 - Kyoto, Japan
Duration: 23 Jun 200926 Jun 2009

Publication series

Name2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009

Conference

Conference2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Country/TerritoryJapan
CityKyoto
Period23/06/0926/06/09

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