JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE A 2010 Vol.11 No.4 P.231-239

Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

Author(s): Marco Ceccarelli, Lotfi Romdhane
Affiliation(s): Laboratory of Robotics and Mechatronics, DIMSAT, University of Cassino-Cassino, Italy, D�partement de M�canique Avanc�e, Ecole Nationale d�Ing�nieurs de Sousse, Tunisia
Corresponding email(s): ceccarelli@unicas.it, lotfi.romdhane@gmail.com
Key Words: Robot design, Robot applications, Cable-based parallel manipulators, Human-machine mechanical interfaces

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Abstract: We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications. From an engineering perspective, we discuss the design constraints related to acceptance by patients and physiotherapist users. To date, most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction. Some specific examples are illustrated from the authors’ experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM), Italy.

Reference

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[2]Ceccarelli, M., Ottaviano, E., 2008. Cable-based Parallel Manipulators of Rehabilitation Purposes of Human Limbs. 2nd International Colloquium Collaborative Research Centre 52, Braunschweig, p.53-67.

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[8]Palmucci, F., Ottaviano, E., Ceccarelli, M., 2008. An Application of Catrasys, a Cable-based Parallel Measuring System for a Kinetostatic Analysis of Human Walking. CD Proceedings of IFToMM-FeIbIM International Symposium on Mechatronics and Multibody Systems MUSME, San Juan, p.22.

[9]Rosati, G., Andreolli, M., Biondi, A., Gallina, P., 2007. Performance of Cable Suspended Robots for Upper Limb Rehabilitation. Proceedings of the IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, p.82.

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