Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion capture system was used to record the prescribed task performed by a healthy...

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Bibliographic Details
Main Authors: Ferdaws Ennaiem, Abdelbadiâ Chaker, Med Amine Laribi, Juan Sandoval, Sami Bennour, Abdelfattah Mlika, Lotfi Romdhane, Saïd Zeghloul
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Applied Sciences
Subjects:
planar CDPR
prescribed task
optimization problem
multiobjective formulation
mono-objective formulation
position control approach
Online Access:https://www.mdpi.com/2076-3417/11/12/5635

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https://www.mdpi.com/2076-3417/11/12/5635

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