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

David Mayhew; Benjamin Bachrach; W. Zev Rymer; Randall F. Beer

doi:10.1109/ICORR.2005.1501106

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

David Mayhew^*, Benjamin Bachrach, W. Zev Rymer, Randall F. Beer

^*Corresponding author for this work

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

80 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages	299-302
Number of pages	4
Volume	2005
DOIs	https://doi.org/10.1109/ICORR.2005.1501106
State	Published - Dec 1 2005
Event	2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States Duration: Jun 28 2005 → Jul 1 2005

Other

Other	2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Country/Territory	United States
City	Chicago, IL
Period	6/28/05 → 7/1/05

ASJC Scopus subject areas

Engineering(all)

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10.1109/ICORR.2005.1501106

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title = "Development of the MACARM - A novel cable robot for upper limb neurorehabilitation",

abstract = "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.",

author = "David Mayhew and Benjamin Bachrach and Rymer, {W. Zev} and Beer, {Randall F.}",

year = "2005",

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Mayhew, D, Bachrach, B, Rymer, WZ & Beer, RF 2005, Development of the MACARM - A novel cable robot for upper limb neurorehabilitation. in Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005. vol. 2005, 1501106, pp. 299-302, 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005, Chicago, IL, United States, 6/28/05. https://doi.org/10.1109/ICORR.2005.1501106

Development of the MACARM - A novel cable robot for upper limb neurorehabilitation. / Mayhew, David; Bachrach, Benjamin; Rymer, W. Zev; Beer, Randall F.

Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005. Vol. 2005 2005. p. 299-302 1501106.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - 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.

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

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