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Robotics 2019, 8(1), 17; https://doi.org/10.3390/robotics8010017

Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot

1
Department of Management and Engineering—DTG, University of Padova, 36100 Vicenza, Italy
2
Department of Mechanical, Energy and Management Engineering, University of Calabria, 87036 Rende, Italy
*
Author to whom correspondence should be addressed.
This paper is an extended version our paper published in Boschetti, G.; Carbone, G.; Passarini, C. A Fail-Safe Operation Strategy for LAWEX (LARM Wire driven EXercising device). In the Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics, Udine, Italy, 11–13 August 2018.
Received: 24 January 2019 / Revised: 28 February 2019 / Accepted: 2 March 2019 / Published: 6 March 2019
(This article belongs to the Special Issue Mechanism Design for Robotics)
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PDF [3107 KB, uploaded 6 March 2019]
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Abstract

Cable-Driven Parallel Robots (CDPR) have attracted significant research interest for applications ranging from cable-suspended camera applications to rehabilitation and home assistance devices. Most of the intended applications of CDPR involve direct interaction with humans where safety is a key issue. Accordingly, this paper addresses the safety of CDPRs in proposing a strategy to minimize the consequences of cable failures. The proposed strategy consists of detecting a cable failure and avoiding any consequent motion of the end-effector. This is obtained by generating a wrench that is opposite to the direction of the ongoing motion so that the end-effector can reach a safe position. A general formulation is outlined as well as a specific case study referring to the LAWEX (LARM Wire-driven EXercising device), which has been designed within the AGEWELL project for limb rehabilitation. Real-time calculation is carried out for identifying feasible cable tensions, which generate a motion that provides the desired braking force. Simulations are carried out to prove the feasibility and effectiveness of the strategy outlined here in cases of cable failure. View Full-Text
Keywords: cable-driven parallel robots; fail-safe operation; exercising device cable-driven parallel robots; fail-safe operation; exercising device
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Boschetti, G.; Carbone, G.; Passarini, C. Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot. Robotics 2019, 8, 17.

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