[2022-Vol.19-Issue 2]Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design
Post: 2022-04-08 20:18  View:210

Journal of Bionic Engineering (2022) 19:416–428

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design 

Med Amine Laribi1  · Marco Ceccarelli2  · Juan Sandoval1  · Matteo Bottin3  · Giulio Rosati3

1 Department GMSC, Pprime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346, 86073 Poitiers, France 

2 Department of Industrial Engineering, University of Rome Tor Vergata, 00133 Rome, Italy 

3 Department of Industrial Engineering, University of Padova, 35122 Padua, Italy 

Abstract  This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefts of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread. Specifc attention has been devoted to design main mechatronic components by developing specifc kinematics models. The design process includes an implementation of specifc control hardware and software. The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests. An evaluation from original design highlights the proposed improvements mainly in terms of comfort, portability and user-oriented operation. 

Keywords  Rehabilitation robotics · Medical devices · Design · Simulations · Cable-driven parallel robot · Control


Arm characteristics: a bone structure; b motion variety

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