CUBE, a Cable-driven Device for Limb Rehabilitation

Cafolla, Daniele; Russo, Matteo; Carbone, Giuseppe

doi:10.1007/s42235-019-0040-5

Cited by 66 publications

(38 citation statements)

References 13 publications

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“…In order to support the home rehabilitation for upper and lower extremities during the COVID-19 emergency, this paper proposes a cable-driven device for home rehabilitation, CUBE 2 , that is an evolution of the CUBE (Cable-driven device for Upper and lower limB Exercising) design introduced in [ 25 , 26 ]. CUBE is a 5-degree-of-freedom (DoF) parallel manipulator with a cable-driven architecture based on six cables, characterized by a fixed frame with adaptable geometry.…”

Section: Introductionmentioning

confidence: 99%

An Autotuning Cable-Driven Device for Home Rehabilitation

Rodríguez-León

Chaparro-Rico

Russo

et al. 2021

Journal of Healthcare Engineering

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Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.

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Section: Introductionmentioning

confidence: 99%

An Autotuning Cable-Driven Device for Home Rehabilitation

Rodríguez-León

Chaparro-Rico

Russo

et al. 2021

Journal of Healthcare Engineering

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“…Rehabilitation treatment, typically performed by caregivers and therapists, needs repeated and progressive functional training exercises to help impaired patients to recover motor abilities [1][2][3]. However, conventional therapist-led rehabilitation treatments require intensive labor, and typically are time-consuming [4].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

et al. 2020

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This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design. INDEX TERMS Pneumatic artificial muscle, robotic exoskeleton, rehabilitation, adaptive fuzzy sliding mode control.

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“…8,9 The possibility of using robotic devices as an efficient means of providing therapy has been the subject of research involving rehabilitation after stroke, as reported, for example, in the literature. [10][11][12][13][14][15] Robotic devices not only have the ability to provide repetitive movements of functional training but can also provide quantitative assessments of the movement with controlled monitored actions. 16 Robotic interventions for motion recovery can increase the effects of a therapy as a complement to the therapist's skills and experience, as pointed out by Gonçalves and Carvalho.…”

Section: Introductionmentioning

confidence: 99%

A fairly simple mechatronic device for training human wrist motion

Gonçalves

Brito

Moraes

et al. 2020

International Journal of Advanced Robotic Systems

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This article proposes a novel device for wrist motion rehabilitation. The proposed mechatronic architecture is based on a simple user-friendly design, which includes a mobile platform for hand support, which is operated by a single actuator. A dedicated assist-as-needed control is designed to operate the device for the required movements. The proposed control strategy is also integrated into a gaming software for stimulating the exercising by means of various interactions with patients. Experimental tests are carried out with 14 healthy subjects at the Physiotherapy Clinical Hospital of the Federal University of Uberlandia. Also, three patients with stroke have been enrolled in a pilot clinical testing. Each of the patients has been involved in four sessions per month with 15 min of assisted treatment. Results of experimental tests are analyzed in terms of improvements and amplitude gains for the flexion and extension wrist movements. Experimental results are reported as evidence for the feasibility and soundness of the proposed device as a tool to assist professionals in procedures of wrist rehabilitation.

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CUBE, a Cable-driven Device for Limb Rehabilitation

Cited by 66 publications

References 13 publications

An Autotuning Cable-Driven Device for Home Rehabilitation

An Autotuning Cable-Driven Device for Home Rehabilitation

Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators

A fairly simple mechatronic device for training human wrist motion

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