Sophia-3: A semiadaptive cable-driven rehabilitation device with a tilting working plane

Damiano Zanotto, Giulio Rosati, Simone Minto, Aldo Rossi

Research output: Contribution to journalArticlepeer-review

78 Scopus citations

Abstract

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.

Original languageEnglish
Article number6746658
Pages (from-to)974-979
Number of pages6
JournalIEEE Transactions on Robotics
Volume30
Issue number4
DOIs
StatePublished - Aug 2014

Keywords

  • Adaptive cable-driven device
  • completely restrained parallel mechanism (CRPM)
  • unilateral actuation

Fingerprint

Dive into the research topics of 'Sophia-3: A semiadaptive cable-driven rehabilitation device with a tilting working plane'. Together they form a unique fingerprint.

Cite this