Elbow rehabilitation robot with cable actuation: First experimental results

Consider the physiological characteristics of body, made it possible to improve performance of rehabilitation by robots. In this paper, a cable actuator mechanism is introduced as a novel approach in elbow rehabilitation. The most important benefits of proposed mechanism include: smooth motion for joint beside stiffness adjustability. The presented mechanism is respectively light and portable because the gravity force is compensated by a specific spring mechanism so the required driving power and dimension of actuators are reduced. The torque generation and stiffness variation of this mechanism in assessed which shows a proper similarity to elbow performance.