@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",
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",
note = "International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016 ; Conference date: 20-09-2016 Through 23-09-2016",
}