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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Pages299-302
Number of pages4
Volume2005
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005 - Chicago, IL, United States
Duration: Jun 28 2005Jul 1 2005

Other

Other2005 IEEE 9th International Conference on Rehabilitation Robotics, ICORR 2005
Country/TerritoryUnited States
CityChicago, IL
Period6/28/057/1/05

ASJC Scopus subject areas

  • Engineering(all)

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