[2410.13870] Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design
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Computer Science > Robotics

arXiv:2410.13870 (cs)
[Submitted on 2 Oct 2024]

Title:Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

Authors:Med Amine Laribi (COBRA), Marco Ceccarelli, Juan Sandoval (COBRA), Matteo Bottin (Unipd), Giulio Rosati
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Abstract:This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design main mechatronic components by developing specific kinematics models. The design process includes an implementation of specific control hardware and software. The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests. An evaluation from original design highlights the proposed improvements mainly in terms of comfort, portability and user-oriented operation.
Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC)
Cite as: arXiv:2410.13870 [cs.RO]
  (or arXiv:2410.13870v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2410.13870
Journal reference: Journal of Bionic Engineering, 2022, 19 (2), pp.416-428
Related DOI: https://doi.org/10.1007/s42235-021-00133-5

Submission history

From: Med Amine LARIBI [view email] [via CCSD proxy]
[v1] Wed, 2 Oct 2024 12:00:12 UTC (1,197 KB)
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