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On-line Access: 2010-03-29

Received: 2010-01-19

Revision Accepted: 2010-01-27

Crosschecked: 2010-01-27

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

http://doi.org/10.1631/jzus.A1000027


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, Département de Mécanique Avancée, Ecole Nationale d’Ingénieurs 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


Marco Ceccarelli, Lotfi Romdhane. Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications[J]. Journal of Zhejiang University Science A, 2010, 11(4): 231-239.

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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.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

[1]Ceccarelli, M., Ottaviano, E., Tavolieri, C., 2007. Experimental Activity on Cable-based Parallel Manipulators: Issues and Results at LARM in Cassino. 2nd International Congress Design and Modelling of Mechanical Systems, Monastir, pID-27.

[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.

[3]Grande, S., 2008. Development and Operation of Cable-based Parallel Manipulators for Medical Applications. LARM Internal Report, LARM, Cassino (in Italian).

[4]ICORR, 2005. Proceedings of the 9th International Conference on Rehabilitation Robotics, Chicago, IL, USA. Available from http://www.smpp.northwestern.edu/ICORR2005/ [Accessed on March 15, 2010].

[5]ICORR, 2009. Proceedings of the 11th International Conference on Rehabilitation Robotics, Kyoto, Japan. Available from http://www.rehabrobotics.org/ [Accessed on March 15, 2010].

[6]LARM, 2009. Available from http://webuser.unicas.it/weblarm/larmindex.htm [Accessed on March 15, 2010].

[7]Mayyhew, D., Bachrach, B., Rymer, W.Z., Beer, R.F., 2005. Development of the MACARM—a Novel Cable Robot for Upper Limb Neurorehabilitation. Proceedings of the IEEE 10th International Conference on Rehabilitation Robotics, Chicago, Paper No. ThB01-01.

[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.

[10]Surdilovic, D., Zhang, J., Bernhardt, R., 2007. STRING-MAN: Wire-robot Technology for Safe, Flexible and Human-friendly Gait Rehabilitation. Proceedings of the IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, p.91.

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