Abstract
This paper presents the design and an experimental characterisation of CADREW, a CAble Driven Robot for Elbow and Wrist rehabilitation. The device is an extended version of CADEL, a Cable-Driven Elbow assisting device, originally dedicated to elbow motion assistance. The new device design is conceived to be portable and user-oriented solution and its kinematics is formulated for functionality analysis. The proposed device allows motion assistance of the wrist as well as the elbow. The preliminary results of lab tests with a first prototype are discussed to characterize the feasibility and performance of the proposed design.
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