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Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation RoboticsDownload
With increasing demand for physical therapy in recent years, robotic systems have been proved to have great potential in improving the level of the delivered rehabilitation services both in quality and quantity and also providing huge savings in labor costs of. In this project a new cable-driven...
Synthesis, kinematic modeling, parameter identification and control of a rehabilitation cable-driven robotDownload
The proposed mechanism in this study is a multi-body cable driven robot. The robot has 6 DOF. The thesis first presents the required concepts and definitions. Then a solution to the kinematic synthesis problem is reviewed. This solution includes an algorithm that finds all the sets of design...