Next Article in Journal / Special Issue
V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints
Previous Article in Journal
Analysis of Man-Machine Interfaces in Upper-Limb Prosthesis: A Review
Previous Article in Special Issue
Trajectory Design for Energy Savings in Redundant Robotic Cells
Open AccessArticle

Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot

Department of Management and Engineering—DTG, University of Padova, 36100 Vicenza, Italy
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.
Robotics 2019, 8(1), 17;
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)
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
Show Figures

Figure 1

MDPI and ACS Style

Boschetti, G.; Carbone, G.; Passarini, C. Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot. Robotics 2019, 8, 17.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

Back to TopTop