The Objective Oriented Design of a CUBE Cable - based Parallel Robot for Arm Rehabilitation Tasks

Abstract

Rehabilitation robots have been employed for training of neural impaired subjects or for assistance of those with weak limbs. A cube, cable-based parallel robot with eight cables designed for assisting patients in upper-limb rehabilitation activities, with control over the end-location effector's while locking its rotation around the horizontal and vertical axes, the device has a lightweight structure that is simple to set up and use for home usage for both pre-determined and personalized exercises. In this context, we have limited the tensions of the cables (always positive) and the lengths of the robot do not exceed the workspace. In addition, the design's kinematic and dynamic studies are presented. The aim of this paper is to help the patient rehabilitate the upper limb in axes (y-z) and (x-y) with improved patient safety, such that the arm for the patient can move it in the two planes. The simulation exercises with solidworks and matlab software demonstrate the effectiveness of our proposed design.