Control Scheme for a Cable Driven Robotic Arm

Robotic solutions for rehabilitation purposes is a topic that takes much interest in the medical field. In particular a prototype called CADEL for the upper limb rehabilitation has been studied. This idea has been developed and refined through the years up to produce a portable exoskeleton driven by cables: the L-CADELv2 prototype. The present paper involves the design of the control scheme for a cable driven robotic arm, inspired from the CADEL project. It is presented the choice for the hardware components necessary to deploy a position control for the actuators of the exoskeleton. Afterwards it is designed and simulated the tracking of a polynomial reference for the position of the actuators.