{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T06:10:11Z","timestamp":1770963011960,"version":"3.50.1"},"reference-count":32,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T00:00:00Z","timestamp":1769990400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"New York State Spinal Cord Injury Research Board","award":["C37719GG"],"award-info":[{"award-number":["C37719GG"]}]},{"DOI":"10.13039\/501100021856","name":"Ministero dell'universit\u00e0 e della ricerca","doi-asserted-by":"crossref","award":["PE00000004"],"award-info":[{"award-number":["PE00000004"]}],"id":[{"id":"10.13039\/501100021856","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Cable-driven wrench applicators (CDWAs) are parallel robotic systems that apply controlled wrenches to the robot end-effector through cable actuation. The presented study introduces a framework for the performance evaluation of CDWAs based on dedicated metrics. It focuses on the geometric analysis of n-cable CDWAs controlling n\u22122 wrench components and on the experimental comparison of a 4-cable architecture with an 8-cable CDWA. The geometric analysis reveals intrinsic properties of the 4-cable system\u2019s tension distribution and inherent limits in achieving specific control objectives. Both simulations and experimental validation demonstrate that the 4-cable CDWA attains comparable performance in wrench control while requiring higher tensions, yet offers greater ease of use and mechanical simplicity.<\/jats:p>","DOI":"10.3390\/robotics15020036","type":"journal-article","created":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T14:12:46Z","timestamp":1770041566000},"page":"36","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Performance Evaluation of Cable-Driven Wrench Applicators: Geometric and Experimental Analysis"],"prefix":"10.3390","volume":"15","author":[{"given":"Federico","family":"Guerra","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering, University of Bologna, 40136 Bologna, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0437-4651","authenticated-orcid":false,"given":"Edoardo","family":"Ida\u2019","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Bologna, 40136 Bologna, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1528-4304","authenticated-orcid":false,"given":"Marco","family":"Carricato","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Bologna, 40136 Bologna, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4008-1437","authenticated-orcid":false,"given":"Sunil","family":"Agrawal","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2026,2,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"110396","DOI":"10.1109\/ACCESS.2021.3102107","article-title":"Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies","volume":"9","author":"Shoaib","year":"2021","journal-title":"IEEE Access"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"885","DOI":"10.1080\/17483107.2019.1629110","article-title":"A review of cable-driven rehabilitation devices","volume":"15","author":"Xiong","year":"2020","journal-title":"Disabil. 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