Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot

Author:

Boschetti Giovanni,Carbone Giuseppe,Passarini Chiara

Abstract

Cable-Driven Parallel Robots (CDPR) have attracted significant research interest for applications ranging from cable-suspended camera applications to rehabilitation and home assistance devices. Most of the intended applications of CDPR involve direct interaction with humans where safety is a key issue. Accordingly, this paper addresses the safety of CDPRs in proposing a strategy to minimize the consequences of cable failures. The proposed strategy consists of detecting a cable failure and avoiding any consequent motion of the end-effector. This is obtained by generating a wrench that is opposite to the direction of the ongoing motion so that the end-effector can reach a safe position. A general formulation is outlined as well as a specific case study referring to the LAWEX (LARM Wire-driven EXercising device), which has been designed within the AGEWELL project for limb rehabilitation. Real-time calculation is carried out for identifying feasible cable tensions, which generate a motion that provides the desired braking force. Simulations are carried out to prove the feasibility and effectiveness of the strategy outlined here in cases of cable failure.

Publisher

MDPI AG

Subject

Artificial Intelligence,Control and Optimization,Mechanical Engineering

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