Advertisement

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)

Abstract

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.

Keywords

Service robotics Rehabilitation device Cable parallel manipulators Design Testing 

Notes

Acknowledgements

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

References

  1. 1.
    Kollen, B.J., Krebs, H.I., Kwakkel, G.: Effects of robot-assisted therapy on upper limb recovery after stroke: a systematic review. Am. Soc. Neurorehabilitation: Neurorehabilitation Neural Repair 22(2), 111–121 (2008)Google Scholar
  2. 2.
    Eschweiler, J., Gerlach-Hahn, K., Jansen-Troy, A., Leonhardt, S., Maciejasz, P.: A survey on robotic devices for upper limb rehabilitation. J. Neuro-Eng. Rehabil. 11(3), 2–29, (2014)Google Scholar
  3. 3.
    Kawasaki, H., Cox, D., Jeon, D., Saint-Bauzel, L., Mouri, T.: Rehabilitation robotics. J. Robot. 2011, 1–3 (2011). Article ID 937875, HindawiGoogle Scholar
  4. 4.
    Stephenson, A., Stephens, J.: An exploration of physiotherapists’ experiences of robotic therapy in upper limb rehabilitation within a stroke rehabilitation centre. J. Disabil. Rehabil. Assist. Technol., 1–8 (2017)Google Scholar
  5. 5.
    Rosati, G., Gallina, P., Masiero, S.: Design, implementation and clinical tests of a wire-based robot for neurorehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15(4), 560–569 (2007)CrossRefGoogle Scholar
  6. 6.
    Ball, S.J., Brown, I.E., Scott, S.H.: MEDARM: a rehabilitation robot with 5DOF at the shoulder complex. In: IEEE International Conference on Advanced Intelligent Mechatronics, Zurich (2007)Google Scholar
  7. 7.
    Mao, Y., Agrawal, S.K.: Design of a cable-driven arm exoskeleton (CAREX) for neural rehabilitation. IEEE Trans. Robot. 28(4), 922–931 (2012)CrossRefGoogle Scholar
  8. 8.
    Halim, A.: Human Anatomy—Upper Limb and Thorax, pp. 19–52. I.K. International Publishing House Pvt., New Delhi (2008)Google Scholar
  9. 9.
    Tözeren, A.: Human Body Dynamics: Classical Mechanics and Human Movement. pp. 84–112, 150–183. Springer, Dordrecht (2008)Google Scholar
  10. 10.
    Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Springer, Dordrecht (2004)CrossRefGoogle Scholar
  11. 11.
    Captain, E.P., Hanavan, JR.: A mathematical Model of the human body. Air Force Aerospace Medical Research Lab Wright-Patterson AFB OH (1964)Google Scholar
  12. 12.
    Barter, J.T.: Regression Equations for Determining Body Segment Weights, Estimation of the Mass of Body Segments, Technical Report, Air Development Center, Wright-Patterson Air Force Base, Ohio, pp. 57–260 (1957)Google Scholar
  13. 13.
    Ceccarelli, M., Ferrara, L., Petuya, V.: Device for elbow rehabilitation, patent n.102017000083887, 24 July 2017, Italy. (in Italian)Google Scholar

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

Personalised recommendations