Abstract
Robotic rehabilitation devices based on cable-driven parallel manipulator (CDPM) have been proposed and developed by many researchers in the past decade. As rehabilitation devices are usually in direct contact with trainees, safety is paramount for rehabilitation devices. It is shown that the demand of safety can be met by applying serial elastic cables to CDPM-based rehabilitation devices. However, how to maintain cable tensions in a safe range (i.e., cables are neither slack nor overstretched) is still an unsolved problem. To improve the safety of CDPM-based rehabilitation devices with elastic cables, this paper proposes a method to maintain cable tensions in a safe range. The method guarantees all cable tensions are below a preset maximum sustainable limit and above a preset minimum limit, while not affecting the originally intended operations of the rehabilitation device. The method is mathematically derived and proved. The proposed safe tension control method is a trigger-activated method based on backstepping technique.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
