Abstract
This paper proposes a methodology for the development of cable-driven parallel robots (CDPRs) for functional rehabilitation purposes, starting from the requirements identification to the experimental validation of the designed prototype. A study of the task to be assisted by the robot is first presented, followed by the formulation of an optimization problem leading to the selection of the optimal robot structure. Later, once the prototype is designed, its control design constitutes the final step of the development. This methodology has been experimentally validated on two types of CDPRs, namely, a fully constrained planar robot and an under-constrained spatial robot. This approach can be extended to incorporate other fields of application other than functional rehabilitation.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Jin, X., et al.: Upper limb rehabilitation using a planar cable-driven parallel robot with various rehabilitation strategies. In: Pott, A., Bruckmann, T. (eds.) Cable-Driven Parallel Robots. MMS, vol. 32, pp. 307–321. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-09489-2_22
Qian, S., Zi, B., Shang, W.-W., Xu, Q.-S.: A review on cable-driven parallel robots. Chin. J. Mech. Eng. 31(1), 1–11 (2018)
Xiong, H., Diao, X.: A review of cable-driven rehabilitation devices. Disabi. Rehabil. Assistive Technol. 15(8), 885–897 (2020)
Pott, A., Bruckmann, T. (eds.): Cable-driven parallel robots. MMS, vol. 32. Springer, Cham (2015). https://doi.org/10.1007/978-3-319-09489-2
Li, Y., Xu, Q.: GA-based multi-objective optimal design of a planar 3-DOF cable-driven parallel manipulator : 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. In: 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, pp. 1360–1365 (2006)
Fattah, A., Agrawal, S.K.: On the design of cable-suspended planar parallel robots. J. Mech. Des. 127(5), 1021–1028 (2004)
Hussein, H., Santos, J.C., Gouttefarde, M.: Geometric optimization of a large scale CDPR operating on a building facade. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5117–5124 (2018)
Laribi, M.A., Carbone, G., Zeghloul, S.: On the optimal design of cable driven parallel robot with a prescribed workspace for upper limb rehabilitation tasks. J. Bionic Eng. 16(3), 503–513 (2019)
Hwang, S.W., Bak, J.-H., Yoon, J., Park, J.H., Park, J.-O.: Trajectory generation to suppress oscillations in under-constrained cable-driven parallel robots. J. Mech. Sci. Technol. 30(12), 5689–5697 (2016). https://doi.org/10.1007/s12206-016-1139-9
Fortin-Côté, A., Cardou, P., Campeau-Lecours, A.: Improving cable driven parallel robot accuracy through angular position sensors. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4350–4355 (2016)
Picard, E., Caro, S., Claveau, F., Plestan, F.: Pulleys and force sensors influence on payload estimation of cable-driven parallel robots. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) (2018)
Khan, S.B., Rahman, M.H., Haque, M.O., Rahman, E.: Effectiveness of task oriented physiotherapy along with conventional physiotherapy for patients with stroke. Int. J. Neurol. Phys. Ther. 5(2), 37–41 (2019)
Ennaiem, F., et al.: Cable-driven parallel robot workspace identification and optimal design based on the upper limb functional rehabilitation. J. Bionic Eng. 19(2), 390–402 (2022)
Ennaiem, F., et al.: A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue. Robotica 41, 850–868 (2022)
Cavalcanti Santos, J., Gouttefarde, M.: A Real-Time Capable Forward Kinematics Algorithm for Cable-Driven Parallel Robots Considering Pulley Kinematics. In: Lenarčič, J., Siciliano, B. (eds.) ARK 2020. SPAR, vol. 15, pp. 199–208. Springer, Cham (2021). https://doi.org/10.1007/978-3-030-50975-0_25
Ennaiem, F., et al.: Cable-driven parallel robot accuracy improving using visual servoing. In: Müller, A., Brandstötter, M. (eds.) Advances in Service and Industrial Robotics: RAAD 2022, pp. 97–105. Springer International Publishing, Cham (2022). https://doi.org/10.1007/978-3-031-04870-8_12
Ennaiem, F., et al.: Task-based design approach: development of a planar cable-driven parallel robot for upper limb rehabilitation. Appl. Sci. 11(12), 5635 (2021)
Eberhart, R., Kennedy, J.: A new optimizer using particle swarm theory. In: MHS’95. Proceedings of the Sixth International Symposium on Micro Machine and Human Science, pp. 39–43 (1995)
Kim, T.K.: Understanding one-way ANOVA using conceptual figures. Korean J. Anesthesiol. 70(1), 22 (2017)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Ennaiem, F., Sandoval, J., Laribi, M.A. (2023). Development Methodology of Cable-Driven Parallel Robots Intended for Functional Rehabilitation. In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_24
Download citation
DOI: https://doi.org/10.1007/978-3-031-32322-5_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-32321-8
Online ISBN: 978-3-031-32322-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)