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

Carl 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
Subtitle of host publicationTheory and Industrial Applications
EditorsPhilippe Wenger, Paulo Flores
PublisherKluwer Academic Publishers
Pages345-353
Number of pages9
ISBN (Print)9783319441559
DOIs
StatePublished - Jan 1 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)2211-0984
ISSN (Electronic)2211-0992

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., Thienpont, R., & Shinde, A. (2017). Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. In P. Wenger, & P. Flores (Eds.), New Trends in Mechanism and Machine Science: Theory and Industrial Applications (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; Thienpont, Raphaël; Shinde, Ashish.

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

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

Nelson, C, Thienpont, R & Shinde, A 2017, Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. in P Wenger & P Flores (eds), New Trends in Mechanism and Machine Science: Theory and Industrial Applications. 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 C, Thienpont R, Shinde A. Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation. In Wenger P, Flores P, editors, New Trends in Mechanism and Machine Science: Theory and Industrial Applications. Kluwer Academic Publishers. 2017. p. 345-353. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-44156-6_35
Nelson, Carl ; 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. editor / Philippe Wenger ; Paulo Flores. Kluwer Academic Publishers, 2017. pp. 345-353 (Mechanisms and Machine Science).
@inproceedings{56867d3e6d454b249a3106e2c8d00829,
title = "Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation",
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.",
keywords = "Cable-suspended robots, Counterweights, Rehabilitation, Static balancing",
author = "Carl Nelson and Rapha{\"e}l Thienpont and Ashish Shinde",
year = "2017",
month = "1",
day = "1",
doi = "10.1007/978-3-319-44156-6_35",
language = "English (US)",
isbn = "9783319441559",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "345--353",
editor = "Philippe Wenger and Paulo Flores",
booktitle = "New Trends in Mechanism and Machine Science",

}

TY - GEN

T1 - Pose-independent counterweighting of cable-suspended payloads with application to rehabilitation

AU - Nelson, Carl

AU - Thienpont, Raphaël

AU - Shinde, Ashish

PY - 2017/1/1

Y1 - 2017/1/1

N2 - 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.

AB - 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.

KW - Cable-suspended robots

KW - Counterweights

KW - Rehabilitation

KW - Static balancing

UR - http://www.scopus.com/inward/record.url?scp=84988484837&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84988484837&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-44156-6_35

DO - 10.1007/978-3-319-44156-6_35

M3 - Conference contribution

AN - SCOPUS:84988484837

SN - 9783319441559

T3 - Mechanisms and Machine Science

SP - 345

EP - 353

BT - New Trends in Mechanism and Machine Science

A2 - Wenger, Philippe

A2 - Flores, Paulo

PB - Kluwer Academic Publishers

ER -