Design of CUBE, a Cable-Driven Device for Upper and Lower Limb Exercising

被引：8

作者：

Cafolla, Daniele ^{[1
]}

Russo, Matteo ^{[2
]}

Carbone, Giuseppe ^{[2
]}

机构：

[1] Tech Univ Cluj Napoca, CESTER Res Ctr Ind Robot Simulat & Testing, Cluj Napoca, Romania

[2] Univ Cassino & Southern Latium, LARM Lab Robot & Mechatron, Cassino, Italy

来源：

NEW TRENDS IN MEDICAL AND SERVICE ROBOTICS: ADVANCES IN THEORY AND PRACTICE | 2019年 / 65卷

关键词：

Cable-driven robots; Medical robots; Parallel robots; Rehabilitation devices; Kinematics;

D O I：

10.1007/978-3-030-00329-6_29

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：255 / 263

页数：9

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