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This paper introduces a novel concept for a cable-driven robot aimed at upper limb rehabilitation. The approach integrates sliding actuators on a pyramidal structure with a rolling cable around a pulley to control the robot’s end-effector in 3D space. The system is designed to support functional rehabilitation tasks, including hand drawing and writing exercises. The study presents the topology search defining the robot configuration, alongside the geometric modeling and control strategy for practical implementation. MATLAB simulations validate the design, generating representative trajectories for typical rehabilitation exercises and demonstrating the feasibility and effectiveness of the proposed solution.

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Conceptual Design of a Pyramidal Cable-Driven Rehabilitation Robot with Sliding Actuation for Upper Limb Assistance

  • 会议论文

  • 发表日期：

    2026年

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  • Mohammed Khadem,
  • Giuseppe Carbone

摘要

This paper introduces a novel concept for a cable-driven robot aimed at upper limb rehabilitation. The approach integrates sliding actuators on a pyramidal structure with a rolling cable around a pulley to control the robot’s end-effector in 3D space. The system is designed to support functional rehabilitation tasks, including hand drawing and writing exercises. The study presents the topology search defining the robot configuration, alongside the geometric modeling and control strategy for practical implementation. MATLAB simulations validate the design, generating representative trajectories for typical rehabilitation exercises and demonstrating the feasibility and effectiveness of the proposed solution.