An Autotuning Cable-Driven Device for Home Rehabilitation

Jhon F Rodríguez-León, Betsy D M Chaparro-Rico, Matteo Russo, Daniele Cafolla

Research output: Contribution to journalArticlepeer-review


Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.

Original languageEnglish
Pages (from-to)6680762
JournalJournal of Healthcare Engineering
Publication statusPublished - Feb 11 2021


  • Algorithms
  • Biomechanical Phenomena
  • COVID-19
  • Calibration/standards
  • Equipment Design
  • Home Care Services
  • Humans
  • Robotics/instrumentation
  • SARS-CoV-2
  • Telerehabilitation/instrumentation


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