Cable-driven systems for robotic rehabilitation

Abstract Cable-driven systems are versatile, as they are inherently compliant to many types of human motion. Persons with impairments such as stroke, spinal cord injury, and cerebral palsy have varied motor control pathologies that cannot always be accommodated by rigid-link exoskeletons due to the imposition of restraints on the user’s natural movement. The systems developed in the Robotics and Rehabilitation Laboratory offer cable-driven robotic solutions, adding negligible inertia and weight to the user, as well as applying robust and repeatable forces to achieve force assistance and trajectory adaptations with encouraging results from healthy and impaired individuals. Moreover, cable-driven robotic systems have an inherently adjustable workspace. This workspace depends upon the cable attachment points and the cable routing points, which allows forces to be applied in different directions and for different degrees-of-freedom depending on the requirements of the rehabilitative task. In this chapter, we go over the versatility of the parallel cable-driven systems developed at the Robotics and Rehabilitation Laboratory at Columbia University and highlight some of their applications in human movement training.

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