A Feasibility Study for a Cable Driven Parallel Robot for Integrated Wrist and Fingers Rehabilitation
摘要
This paper explores the feasibility of a Cable-Driven Parallel Robot (CDPR) for rehabilitating wrist and finger movements. The proposed design is inspired by 3D printed braces and utilizes cables for actuation. Kinematic models for both wrist and fingers are presented, along with an inverse kinematic approach to calculate cable adjustments for desired movements. A prototype was built and tested, validating the model, and demonstrating impressive accuracy and range of motion in both wrist and finger movements. This study paves the way for a rehabilitation solution using CDPRs, offering potential improvements in precision and consistency for physical therapy.