Development of the MACARM - a novel cable robot for upper limb neurorehabilitation

This paper describes the design and operation of the multi-axis cartesian-based arm rehabilitation machine (MACARM), a new cable (wire) robot for upper limb rehabilitation. The prototype configuration is comprised of an array of 8 motors mounted at the corners of a cubic support frame that provides, via cables, 6 degree of freedom (DOF) control of a centrally located end-effector. A 6 DOF load cell mounted on the end-effector provides force measurement. Given its relatively simple architecture, the MACARM may provide an attractive alternative to serial robots for use in neurorehabilitation.