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A low-cost and easy-to-customize Cable-driven Wrist Robotic Rehabilitor (CDWRR) has been developed for forearm and wrist motion training. This device can be potentially applied to rehabilitation of stroke patients for three degree-of-freedom (3-DOF) arm motion, including forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. The CDWRR can be customized for patients with...
This paper presents the control of a 3-DOF manipulator with joint angle feedback, the function of which was achieved by three mutually perpendicular joints intersecting at one point actuated by four parallel pulling force. Encoders were installed on each joint to obtain the control error caused by elasticity of cables and mechanism installation. Due to the output coupling problem of parallel mechanism,...
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