Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (2): 416-428.doi: 10.1007/s42235-021-00133-5
• • 上一篇
Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design
Med Amine Laribi1, Marco Ceccarelli2, Juan Sandoval1, Matteo Bottin3, Giulio Rosati3
- 1 Department GMSC, Pprime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346, 86073 Poitiers, France 2 Department of Industrial Engineering, University of Rome Tor Vergata, 00133 Rome, Italy 3 Department of Industrial Engineering, University of Padova, 35122 Padua, Italy
Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design
Med Amine Laribi1, Marco Ceccarelli2, Juan Sandoval1, Matteo Bottin3, Giulio Rosati3
- 1 Department GMSC, Pprime Institute, CNRS-University of Poitiers-ENSMA, UPR 3346, 86073 Poitiers, France 2 Department of Industrial Engineering, University of Rome Tor Vergata, 00133 Rome, Italy 3 Department of Industrial Engineering, University of Padova, 35122 Padua, Italy
摘要： This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design main mechatronic components by developing specific kinematics models. The design process includes an implementation of specific control hardware and software. The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests. An evaluation from original design highlights the proposed improvements mainly in terms of comfort, portability and user-oriented operation.