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

Keywords

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

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • 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