Abstract
In this paper, a novel device intended to assist therapists in rehabilitation of the cervical spine poly-joint is proposed. Firstly, rehabilitation motion of the cervical spine is analysed. The poly-joint amplitude and the surface swept by the head are studied and recorded using a motion capture system. Based on these measurements and design constraints, an orthosis is proposed to allow an adaptability to several subject and confer a sufficient support of the head when performing the movements. The adopted structure is chosen among several proposals using a survey. The preliminary architecture of a proposed cable-driven parallel robot (CDPR) is able to replicate all the movements. Moreover, the design of the end-effector as a universal joint simplifies the CDPR modelling by limiting the number of degrees of freedom (DoF) necessary to perform the various tasks. A kinetostatic model of the CDPR is conducted and the space statistically accessible inside its workspace is built.
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Acknowledgments
This work was financially supported by the Pprime Institute, a CNRS research unit created in partnership with the University of Poitiers and ISAE-ENSMA and carried out within the CoBRA team.
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Koszulinski, A., Stantinat, E., Ollivier, L., Sandoval, J., Laribi, M.A. (2021). Design of a Cable-Driven Parallel Robot for the Cervical Spine Motion Training. In: Zeghloul, S., Laribi, M.A., Sandoval, J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_17
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