Design and Prototyping of a Cable-Driven Parallel Robot for At-Home Upper Extremity Rehabilitation
Why this work is in the frame
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Bibliographic record
Abstract
At-home stroke rehabilitation robots could improve access to rehabilitation therapies for stroke survivors. However, as the home is a challenging environment for design, it is essential that such designs are closely linked to stakeholder needs. This paper continues previous work by the authors linking stakeholder needs to the design of an at-home stroke rehabilitation robot for the upper limb. The proposed design is a constrained cable robot with a vertical workspace, capable of supporting and measuring the motion of a stroke survivor’s arm and hand during therapy activities, with a modular end effector design to simulate a variety of activities of daily living. The technical requirements of the design are described and linked to research on therapy activities, activities of daily living, and anthropometry. The kinematic and dynamic requirements for the design are validated in experiments. Potential improvements for the design include adding powered hand modules to assist users with hand impairments, adding a third rotational degree of freedom, and investigating parallel-spring motor designs that could reduce power consumption.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it