Sophia-3 (String Operated Planar Haptic Interface for Armrehabilitation) is a planar cable-driven device with a tilting working plane. It represents the first application of the adaptive cable-driven design paradigm recently introduced by the authors, featuring a moving pulley-block that allows the robot to achieve excellent force capabilities despite the low number of cables. This work presents the design, kinematics and control of the device, and results of experimental validation on healthy subjects
Sophia-3: a semi-adaptive cable-driven rehabilitation device with tilting working plane
ROSATI, GIULIO;MINTO, SIMONE;ROSSI, ALDO
2014
Abstract
Sophia-3 (String Operated Planar Haptic Interface for Armrehabilitation) is a planar cable-driven device with a tilting working plane. It represents the first application of the adaptive cable-driven design paradigm recently introduced by the authors, featuring a moving pulley-block that allows the robot to achieve excellent force capabilities despite the low number of cables. This work presents the design, kinematics and control of the device, and results of experimental validation on healthy subjects
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