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Applied Bionics and Biomechanics
Volume 5, Issue 2, Pages 65-75
http://dx.doi.org/10.1080/11762320802373701

Design Issues and Application of Cable-Based Parallel Manipulators for Rehabilitation Therapy

E. Ottaviano

LARM: Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Cassino, Italy

Received 28 July 2008

Copyright © 2008 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

In this study, cable-based manipulators are proposed for application in rehabilitation therapies. Cable-based manipulators show good features that are very useful when the system has to interact with humans. In particular, they can be used to aid motion or as monitoring/training systems in rehabilitation therapies. Modelling and simulation of both active and passive cable-based parallel manipulators are presented for an application to help older people, patients or disabled people in the sit-to-stand transfer and as a monitoring/training system. Experimental results are presented by using built prototypes.