An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking

作者：Ottaviano Erika; Ceccarelli Marco^*; Palmucci Francesco

来源：Robotica, 2010, 28(01): 119-133.

DOI：10.1017/S0263574709005645

• Experimental robotics
• Parallel manipulators
• Cable-based architectures
• Measuring systems
• Medical applications

In this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.

• 出版日期2010-1