Design of a novel cable-driven robot for rehabilitation

Muscle exercise therapies can recover hemiplegy of disabled and elder people. A novel cable-driven robot has been developed to carry out rehabilitation exercise in this study. The whole structure of this apparatus is composed of four-cable-driven robot and bracket made of aluminum alloy. The kinematical model of the system is obtained through vector analysis method. The motion characteristics and main factor of movable platform are discussed by simulation based on MATLAB program. Then, the micro-computer control system is developed which can realize pendulum, up and down motion, micro amplitude vibration and auto-regulation rehabilitation exercises. This robot changes the limitation of fixed bracket only realizing single motion. Smooth platform of cable-driven apparatus is to be humanity and safety for patients. The result presents that the robot works normally and reliably.