Design of a Cable-Driven Device for Elbow Rehabilitation and Exercise

  • Marco CeccarelliEmail author
  • Lucia Ferrara
  • Victor Petuya
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 71)


The paper presents a new rehabilitation device for elbow motion as based on a cable-driven parallel manipulator. The kinematic design is presented as characterized with a numerical evaluation of motion performance and an experimental validation. A CAD design is simulated as the basis for a prototype construction. Tests with a built prototype are discussed to show its feasibility and operation characteristics.


Service robotics Rehabilitation device Cable parallel manipulators Design Testing 



The second author has spent a semester at UPV in Bilbao in 2017 within the Erasmus program that is thankfully acknowledged.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Marco Ceccarelli
    • 1
    • 2
    Email author
  • Lucia Ferrara
    • 2
  • Victor Petuya
    • 3
  1. 1.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of TechnologyBeijingChina
  2. 2.LARM, Laboratory of Robotics and MechatronicsUniversity of Cassino and South LatiumCassinoItaly
  3. 3.Department of Mechanical EngineeringUniversity of Basque Country UPV/EHULeioaSpain

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