{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,7]],"date-time":"2024-07-07T04:10:05Z","timestamp":1720325405471},"reference-count":23,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2020,12,31]],"date-time":"2020-12-31T00:00:00Z","timestamp":1609372800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004792","name":"Minist\u00e8re de l'Enseignement Sup\u00e9rieur et de la Recherche","doi-asserted-by":"publisher","award":["19G1121"],"id":[{"id":"10.13039\/501100004792","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"This paper deals with the design of an optimal cable-driven parallel robot (CDPR) for upper limb rehabilitation. The robot\u2019s prescribed workspace is identified with the help of an occupational therapist based on three selected daily life activities, which are tracked using a Qualisys motion capture system. A preliminary architecture of the robot is proposed based on the analysis of the tracked trajectories of all the activities. A multi-objective optimization process using the genetic algorithm method is then performed, where the cable tensions and the robot size are selected as the objective functions to be minimized. The cables tensions are bounded between two limits, where the lower limit ensures a positive tension in the cables at all times and the upper limit represents the maximum torque of the motor. A sensitivity analysis is then performed using the Monte Carlo method to yield the optimal design selected out of the non-dominated solutions, forming the obtained Pareto front. The robot with the highest robustness toward the disturbances is identified, and its dexterity and elastic stiffness are calculated to investigate its performance.<\/jats:p>","DOI":"10.3390\/robotics10010007","type":"journal-article","created":{"date-parts":[[2020,12,31]],"date-time":"2020-12-31T14:31:49Z","timestamp":1609425109000},"page":"7","source":"Crossref","is-referenced-by-count":0,"title":["Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes"],"prefix":"10.3390","volume":"10","author":[{"ORCID":"http:\/\/orcid.org\/0000-0002-2622-6900","authenticated-orcid":false,"given":"Ferdaws","family":"Ennaiem","sequence":"first","affiliation":[{"name":"Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346 Poitiers, France"},{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"}]},{"given":"Abdelbadi\u00e2","family":"Chaker","sequence":"additional","affiliation":[{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-1118-5165","authenticated-orcid":false,"given":"Juan Sebasti\u00e1n Sandoval","family":"Ar\u00e9valo","sequence":"additional","affiliation":[{"name":"Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346 Poitiers, France"}]},{"ORCID":"http:\/\/orcid.org\/0000-0003-0797-7669","authenticated-orcid":false,"given":"Med Amine","family":"Laribi","sequence":"additional","affiliation":[{"name":"Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346 Poitiers, France"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-4817-9092","authenticated-orcid":false,"given":"Sami","family":"Bennour","sequence":"additional","affiliation":[{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"}]},{"given":"Abdelfattah","family":"Mlika","sequence":"additional","affiliation":[{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8509-2386","authenticated-orcid":false,"given":"Lotfi","family":"Romdhane","sequence":"additional","affiliation":[{"name":"Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia"},{"name":"Department of Mechanical Engineering, American University of Sharjah, Sharjah P.O. Box 26666, UAE"}]},{"given":"Sa\u00efd","family":"Zeghloul","sequence":"additional","affiliation":[{"name":"Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346 Poitiers, France"}]}],"member":"1968","published-online":{"date-parts":[[2020,12,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1682\/JRRD.2005.04.0076","article-title":"Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke","volume":"43","author":"Prange","year":"2006","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"631","DOI":"10.1682\/JRRD.2005.02.0044","article-title":"MIME robotic device for upper-limb neurorehabilitation in subacute stroke subjects: A follow-up study","volume":"43","author":"Lum","year":"2006","journal-title":"J. Rehabil. Res. Dev."},{"key":"ref_3","unstructured":"Nef, T., and Riener, R. (July, January 28). 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