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SOPHIA4: String-Operated Planar Haptic Interface for rehAbilitation

contact: prof. Giulio Rosati
centre: UniPd - DIMEG
start: 2006
Topic: Medicals


The planar cable-driven robot is a therapy device conceived for the rehabilitation treatment of the upper limb of post-stroke patients in the chronic phase. The robot employs four cables to produce a planar force on the end effector, which is held by the patient during the execution of the exercise. Most common planar exercises can be implemented (passive, active and active-assistive). The working space is optimized to enhance the force exertion capabilities of the device.
  For more information on neurorehabilitation robotics research visit www.rehabrobotics.it.


Publications

D. Zanotto, G. Rosati, S. Minto, and A. Rossi
Sophia-3: a semi-adaptive cable-driven rehabilitation device with tilting working plane
IEEE Transactions on Robotics, 30(4):974-979, 6746658, 2014

G. Rosati, D. Zanotto, R. Secoli, and A. Rossi
Design and control of two planar cable-driven robots for upper-limb neurorehabilitation
In Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics ICORR2009, pages 560565, Kyoto, Japan, June 23-26 2009

G. Rosati, R. Secoli, D. Zanotto, A. Rossi, and G. Boschetti
Planar robotic systems for upper-limb post-stroke rehabilitation
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

G. Rosati, J. E. Bobrow, and D. J. Reinkensmeyer
Compliant control of post-stroke rehabilitation robots: using movement-specific models to improve controller performance
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

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