Cable Driven Robot for Lower Limb Rehabilitation

EasyChair Preprint 8759

Abstract

The purpose of this work is to develop a low-cost cable-driven manipulator robot to be used in the rehabilitation of human lower limb problems caused by stroke, accidents and cerebral palsy. The robot offers a lot of advantages but the main two is that is the robot is easily deployable anywhere where a power source is present, and that the therapist does not to be present with the patient in the same room to monitor the sessions. The robot consists of a stationary frame and an endeffector (splint) connected to four and up to eight wires and can conduct individual hip / knee motions. The paper starts with a look at rehabilitation of the lower limb, then moving on to the kinematics, workspace and hardware structure.

Keyphrases: Medical robots, Rehabilitation, Robotics, cable-driven parallel robots

@booklet{EasyChair:8759,
  author    = {Abdallah Salem and Ahmed Khalaf and Abdulrahman Fouda and Hossam Ammar and Raafat Shalaby},
  title     = {Cable Driven Robot for Lower Limb Rehabilitation},
  howpublished = {EasyChair Preprint 8759},
  year      = {EasyChair, 2022}}