{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T15:44:43Z","timestamp":1763480683724,"version":"3.40.5"},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2023,9,25]],"date-time":"2023-09-25T00:00:00Z","timestamp":1695600000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Rehabilitation robots help the treatment of diseases by performing cyclic exercises for a long period of time. These exercises must perform movements of the patient\u2019s limbs; thus, the robots are required to be flexible and safe. Among rehabilitation robots, cable robots are widely used due to their unique properties, such as being lightweight and the possibility of being equipped with magnetic hooks to improve both safety and ease of use. However, the elasticity and flexibility of cables result in vibrations of the payload and hooks. In this paper, the forced vibrations due to rehabilitation exercises are studied. Since the previous studies of the authors showed a weak coupling between longitudinal and transverse vibrations, a two-cable planar model for the study of transverse vibrations is developed. The model makes it possible to study the forced transverse vibrations due to both cable motion and robot motion. Stiffness and damping of the patient\u2019s arm are considered. Results show that the cable system exhibits a simple linear behavior when excited by robot motion and a non-linear behavior when excited by cable motion.<\/jats:p>","DOI":"10.1017\/s0263574723001248","type":"journal-article","created":{"date-parts":[[2023,9,25]],"date-time":"2023-09-25T10:57:18Z","timestamp":1695639438000},"page":"3702-3723","source":"Crossref","is-referenced-by-count":5,"title":["Vibrations of cable-suspended rehabilitation robots"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2349-9580","authenticated-orcid":false,"given":"Giacomo","family":"Zuccon","sequence":"first","affiliation":[]},{"given":"Alberto","family":"Doria","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6611-173X","authenticated-orcid":false,"given":"Matteo","family":"Bottin","sequence":"additional","affiliation":[]},{"given":"Riccardo","family":"Minto","sequence":"additional","affiliation":[]},{"given":"Giulio","family":"Rosati","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,9,25]]},"reference":[{"key":"S0263574723001248_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/S1270-9638(00)00117-6"},{"key":"S0263574723001248_ref35","doi-asserted-by":"publisher","DOI":"10.3390\/machines8040068"},{"key":"S0263574723001248_ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.908560"},{"key":"S0263574723001248_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0954406214527073"},{"key":"S0263574723001248_ref25","doi-asserted-by":"crossref","unstructured":"[25] Riehl, N. , Gouttefarde, M. , Krut, S. , Baradat, C. and Pierrot, F. , \u201cEffects of Non-negligible Cable Mass on the Static Behavior of Large Workspace Cable-driven Parallel Mechanisms,\u201d 2009 IEEE International Conference on Robotics and Automation, IEEE (2009) pp. 2193\u20132198.","DOI":"10.1109\/ROBOT.2009.5152576"},{"key":"S0263574723001248_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870659"},{"key":"S0263574723001248_ref27","doi-asserted-by":"crossref","unstructured":"[27] Rosati, G. , Andreolli, M. , Biondi, A. and Gallina, P. , \u201cPerformance of Cable Suspended Robots for Upper Limb Eehabilitation,\u201d 2007 IEEE 10th International Conference on Rehabilitation Robotics, IEEE (2007) pp. 385\u2013392.","DOI":"10.1109\/ICORR.2007.4428454"},{"key":"S0263574723001248_ref38","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-10776-4_32"},{"key":"S0263574723001248_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2014.2323938"},{"volume-title":"Mechanical Vibrations","year":"2001","author":"Rao","key":"S0263574723001248_ref24"},{"key":"S0263574723001248_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-31988-4"},{"key":"S0263574723001248_ref26","doi-asserted-by":"crossref","unstructured":"[26] Rosati, G. , Cenci, S. , Boschetti, G. , Zanotto, D. and Masiero, S. , \u201cDesign of a Single-dof Active Hand Orthosis for Neurorehabilitation,\u201d 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, (2009) pp. 161\u2013166.","DOI":"10.1109\/ICORR.2009.5209552"},{"key":"S0263574723001248_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/S0140-6736(20)32340-0"},{"key":"S0263574723001248_ref32","doi-asserted-by":"crossref","unstructured":"[32] Tsoi, Y. 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