{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:37:52Z","timestamp":1760233072078,"version":"build-2065373602"},"reference-count":47,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,12,18]],"date-time":"2022-12-18T00:00:00Z","timestamp":1671321600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Cable robots are widely used in the field of rehabilitation. These robots differ from other cable robots because the cables are rather short and are usually equipped with magnetic hooks to improve the ease of use. The vibrations of rehabilitation robots are dominated by the effects of the hooks and payloads, whereas the cables behave as massless springs. In this paper, a 2D model of the cables of a robot that simulates both longitudinal and transverse vibrations is developed and experimentally validated. Then the model is extended to simulate the vibrations of an actual 3D robot in the symmetry planes. Finally, the calculated modal properties (natural frequencies and modes of vibration) are compared with the typical spectrum of excitation due to the cable\u2019s motion. Only the first transverse mode can be excited during the rehabilitation exercise.<\/jats:p>","DOI":"10.3390\/robotics11060154","type":"journal-article","created":{"date-parts":[[2022,12,19]],"date-time":"2022-12-19T04:54:13Z","timestamp":1671425653000},"page":"154","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Planar Model for Vibration Analysis of Cable Rehabilitation Robots"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2349-9580","authenticated-orcid":false,"given":"Giacomo","family":"Zuccon","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, Via Venezia 1, 35131 Padova, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0896-7796","authenticated-orcid":false,"given":"Alberto","family":"Doria","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, Via Venezia 1, 35131 Padova, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6611-173X","authenticated-orcid":false,"given":"Matteo","family":"Bottin","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, Via Venezia 1, 35131 Padova, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5150-9486","authenticated-orcid":false,"given":"Giulio","family":"Rosati","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, Via Venezia 1, 35131 Padova, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,18]]},"reference":[{"key":"ref_1","first-page":"263","article-title":"A review of technological and clinical aspects of robot-aided rehabilitation of upper-extremity after stroke","volume":"11","author":"Babaiasl","year":"2016","journal-title":"Disabil. 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