Abstract
This paper introduces CUBE, a cable-driven parallel robot for the assistance of patients in rehabilitation exercising for both upper and lower limb. The system is characterized by a lightweight foldable structure that is easy to set-up in different configurations. It can adapt to different exercises and to the available environment. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. The design is presented with its kinematic and dynamic analysis and validated through a first prototype.
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Acknowledgments
The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 20142020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
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Cafolla, D., Russo, M., Carbone, G. (2019). Design of CUBE, a Cable-Driven Device for Upper and Lower Limb Exercising. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_29
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DOI: https://doi.org/10.1007/978-3-030-00329-6_29
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