Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation

Abstract

The paper discusses an optimized model of rehabilitation systems based on a cable-actuated robot designed for rehabilitation of patients with impaired motor function of upper and lower limbs. Tensile strength and cable lengths depending on joint angles are calculated to determine optimal positions of coils, with due account of the effects elasticity and gravity forces produce during rehabilitation. Based on the calculations, the positions of cable-driven actuators are determined such that the cables do not touch the patient’s body and the optimal forces of the actuators are ensured.