TY - JOUR
T1 - Sophia-3
T2 - A semiadaptive cable-driven rehabilitation device with a tilting working plane
AU - Zanotto, Damiano
AU - Rosati, Giulio
AU - Minto, Simone
AU - Rossi, Aldo
PY - 2014/8
Y1 - 2014/8
N2 - Sophia-3 (string-operated planar haptic interface for arm rehabilitation) is a planar cable-driven device with a tilting working plane. It represents the first application of the adaptive cable-driven design paradigm recently introduced by the authors, featuring a moving pulley-block that allows the robot to achieve excellent force capabilities, despite the low number of cables. This study presents the design, kinematics, and control of the device and results of experimental validation on healthy subjects.
AB - Sophia-3 (string-operated planar haptic interface for arm rehabilitation) is a planar cable-driven device with a tilting working plane. It represents the first application of the adaptive cable-driven design paradigm recently introduced by the authors, featuring a moving pulley-block that allows the robot to achieve excellent force capabilities, despite the low number of cables. This study presents the design, kinematics, and control of the device and results of experimental validation on healthy subjects.
KW - Adaptive cable-driven device
KW - completely restrained parallel mechanism (CRPM)
KW - unilateral actuation
UR - http://www.scopus.com/inward/record.url?scp=84905899312&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84905899312&partnerID=8YFLogxK
U2 - 10.1109/TRO.2014.2301532
DO - 10.1109/TRO.2014.2301532
M3 - Article
AN - SCOPUS:84905899312
SN - 1552-3098
VL - 30
SP - 974
EP - 979
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 4
M1 - 6746658
ER -