Sophia-3: A Semiadaptive Cable-Driven Rehabilitation Device With a Tilting Working Plane

Sophia-3 (string-operated planar haptic interface for arm rehabilitation) is a planar cable-driven device with a tilting working plane. It represents the first application of the adaptive cable-driven design paradigm recently introduced by the authors, featuring a moving pulley-block that allows the robot to achieve excellent force capabilities, despite the low number of cables. This study presents the design, kinematics, and control of the device and results of experimental validation on healthy subjects.