2025
An Online Reconfiguration Strategy of the Cable-Driven Parallel Robot for pHRI via APF-Adjusted Linear Approximation
IROS 2025
The simple and modular structure of cable-driven parallel robots (CDPRs) can enable effective real-time reconfiguration. In this paper, an online reconfiguration strategy is proposed for a 3-DOF point-mass CDPR to adjust the cable anchor positions and enhance its performance in physical human-robot