An Autotuning Cable-Driven Device for Home Rehabilitation

Rodr�guez-Le�n, Jhon F.; Chaparro-Rico, Betsy D. M.; Russo, Matteo; Cafolla, Daniele

Abstract

© 2021 Jhon F. Rodríguez-León et al. Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.

• Journal Article Type: Article
• Acceptance Date: Jan 28, 2021
• Online Publication Date: Feb 12, 2021
• Publication Date: Feb 12, 2021
• Deposit Date: Feb 14, 2021
• Publicly Available Date: Feb 15, 2021
• Journal: Journal of Healthcare Engineering
• Print ISSN: 2040-2295
• Electronic ISSN: 2040-2309
• Publisher: Hindawi Publishing Corporation
• Peer Reviewed: Peer Reviewed
• Volume: 2021
• Article Number: 6680762
• Pages: 1-15
• DOI: https://doi.org/10.1155/2021/6680762
• Keywords: Biotechnology; Surgery; Health Informatics; Biomedical Engineering
• Public URL: https://nottingham-repository.worktribe.com/output/5327865