planar cable-driven robotic device for physical therapy assistance

The design and construction of a tri-cable, planar robotic device for use in neurophysical rehabilitation is presented. The criteria for this system are based primarily on marketability factors, rather than ideal models or mathematical outcomes. The device is designed to be low cost and sufficiently safe for a somewhat disabled individual to use unsupervised at home, as well as in a therapist's office. The key features are the use of a barrier that inhibits the user from coming into contact with the cables as well as a "break-away" joystick that the user utilizes to perform the rehabilitation tasks. In addition, this device is portable, aesthetically acceptable and easy to operate. Other uses of this system include sports therapy, virtual reality and teleoperation of remote devices.