The tendon sheath mechanism plays an important role in many robotic systems from surgical devices to robot hands. However, many unexpected properties such as nonlinear hysteresis and backlash, which appear in the tendon sheath system, cause major losses in force transmission. This report deals with the characterization of hysteresis phenomenon, which is attributed to the presence of frictional ...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Continuum robots have excited increasing attention and effort from robotic community due to their high dexterity and safety. This paper designs a continuum robot equipped with an elastic backbone structure and tendon-driven system. The kinematic model of such robot is formulated and a novel approach to analyze the workspace is developed by identifying the interference between the backbone struc...

background clinical tendon injuries represent serious and unresolved issues of the case on how the injured tendons could be improved based on natural structure and mechanical strength. the aim of this studies the effect of aquatic activities and alogenic platelet rich plasma (prp) injection in healing achilles tendons of rats. methods forty rats were randomly divided into 5 equal groups. sevent...

In this work, we explore using computational musculoskeletal modeling to equip an industrial collaborative robot with awareness of the internal state a patient safely deliver physical therapy. A major concern robot-mediated therapy is that robots may unwittingly injure patients. For patients shoulder injuries typically means risk tearing rotator-cuff muscle tendon. Risk reinjury hampers both hu...

  Tears of the subscapularis tendon have been significantly recognized as a source of shoulder pain and dysfunction in the past decade, thanks to arthroscopic evaluation of the shoulder and biomechanical and anatomical studies of the tendon. Current classification of subscapularis tendon tear is based on insertion site of the tendon. Recently, a classification for non-insertional types of subsc...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...