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The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Upper Limb Rehabilitation Using a Planar Cable-Driven Parallel Robot with Various Rehabilitation Strategies

Authors : XueJun Jin, Dae Ik Jun, Xuemei Jin, Jeongan Seon, Andreas Pott, Sukho Park, Jong-Oh Park, Seong Young Ko

Published in: Cable-Driven Parallel Robots

Publisher: Springer International Publishing

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Abstract

Robotic technology became an important tool for rehabilitation especially for stroke patients. This paper presents development of three degrees-of-freedom cable-driven parallel robot (CDPR) for upper limb rehabilitation. Main features of the proposed rehabilitation robot are to provide relatively large workspace and to be less dangerous especially in the situation of robot’s malfunction owing to its reduced inertia of a moving part. In addition, the cable-driven rehabilitation robot has many advantages such as transportability, low cost, low actuation power, safeness, large workspace and so on. In this paper, we analyzed the patient’s joint movement during the passive rehabilitation using the developed CDPR. In addition, the paper presents the several types of rehabilitation therapy strategies and their implementation using the proposed CDPR system.

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previous chapter ARACHNIS: Analysis of Robots Actuated by Cables with Handy and Neat Interface Software
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Metadata
Title
Upper Limb Rehabilitation Using a Planar Cable-Driven Parallel Robot with Various Rehabilitation Strategies
Authors
XueJun Jin
Dae Ik Jun
Xuemei Jin
Jeongan Seon
Andreas Pott
Sukho Park
Jong-Oh Park
Seong Young Ko
Copyright Year
2015
Book
Cable-Driven Parallel Robots

Print ISBN: 978-3-319-09488-5

Electronic ISBN: 978-3-319-09489-2

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-09489-2_22