Design of a Robotic Cable Device for Rehabilitation of the Upper Limbs
摘要
This paper presents the design of a robotic medical device for upper limb rehabilitation based on a parallel mechanism driven by cables. The design of this device is able to adapt to the specific needs of the patient and, thanks to its portability and lightness, it is suitable for autonomous use at home. Particular attention was paid to the study of the kinematics of the device and the design of the main mechanical components. The kinematic model of this design has been subjected to several simulations.