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

Published online by Cambridge University Press:  15 May 2009

Erika Ottaviano ,
Marco Ceccarelli  and
Francesco Palmucci
Erika Ottaviano
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy
Marco Ceccarelli*
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy
Francesco Palmucci
Affiliation:
Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio, 43 – 03043 Cassino (FR), Italy
*
*Corresponding author. E-mail: ceccarelli@unicas.it
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Summary

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.

Keywords

Experimental roboticsParallel manipulatorsCable-based architecturesMeasuring systemsMedical applications
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 119 - 133
Copyright
Copyright © Cambridge University Press 2009

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