1. An Autotuning Cable-Driven Device for Home Rehabilitation.
- Author
-
Rodríguez-León JF, Chaparro-Rico BDM, Russo M, and Cafolla D
- Subjects
- Algorithms, Biomechanical Phenomena, COVID-19, Calibration standards, Equipment Design, Humans, Robotics instrumentation, SARS-CoV-2, Home Care Services, Telerehabilitation instrumentation, Telerehabilitation methods, Telerehabilitation standards
- Abstract
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, CUBE
2 , 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., Competing Interests: The authors declare no conflicts of interest., (Copyright © 2021 Jhon F. Rodríguez-León et al.)- Published
- 2021
- Full Text
- View/download PDF