Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation

Carl A Nelson, Raphaël Thienpont, Ashish Shinde

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a counterweight system for supporting a cable-suspended payload, and applies this to a rehabilitation scenario in mobility recovery. Body-weight support systems exist for gait rehabilitation and similar training tasks, but these are generally stationary devices, limiting the integration of meaningful tasks into rehabilitation exercises. We propose a cable-based body-weight support system which allows the user to move in a planar horizontal workspace with uniform supporting force throughout that workspace. This is achieved by coupling the cable displacements (as a function of position in the workspace) to the counterweight displacements. Generalization to other counterbalancing tasks is also discussed.

Original languageEnglish (US)
Title of host publicationNew Trends in Mechanism and Machine Science: Theory and Industrial Applications
PublisherKluwer Academic Publishers
Pages345-353
Number of pages9
Volume43
ISBN (Print)9783319441559
DOIs
StatePublished - 2017
EventInternational Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016 - Nantes, France
Duration: Sep 20 2016Sep 23 2016

Publication series

NameMechanisms and Machine Science
Volume43
ISSN (Print)22110984
ISSN (Electronic)22110992

Other

OtherInternational Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016
CountryFrance
CityNantes
Period9/20/169/23/16

Fingerprint

Patient rehabilitation
Cables
Recovery

Keywords

  • Cable-suspended robots
  • Counterweights
  • Rehabilitation
  • Static balancing

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Nelson, C. A., Thienpont, R., & Shinde, A. (2017). Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. In New Trends in Mechanism and Machine Science: Theory and Industrial Applications (Vol. 43, pp. 345-353). (Mechanisms and Machine Science; Vol. 43). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-44156-6_35

Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. / Nelson, Carl A; Thienpont, Raphaël; Shinde, Ashish.

New Trends in Mechanism and Machine Science: Theory and Industrial Applications. Vol. 43 Kluwer Academic Publishers, 2017. p. 345-353 (Mechanisms and Machine Science; Vol. 43).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nelson, CA, Thienpont, R & Shinde, A 2017, Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. in New Trends in Mechanism and Machine Science: Theory and Industrial Applications. vol. 43, Mechanisms and Machine Science, vol. 43, Kluwer Academic Publishers, pp. 345-353, International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016, Nantes, France, 9/20/16. https://doi.org/10.1007/978-3-319-44156-6_35
Nelson CA, Thienpont R, Shinde A. Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. In New Trends in Mechanism and Machine Science: Theory and Industrial Applications. Vol. 43. Kluwer Academic Publishers. 2017. p. 345-353. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-44156-6_35
Nelson, Carl A ; Thienpont, Raphaël ; Shinde, Ashish. / Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. New Trends in Mechanism and Machine Science: Theory and Industrial Applications. Vol. 43 Kluwer Academic Publishers, 2017. pp. 345-353 (Mechanisms and Machine Science).
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