A Cable-Driven Home-Based Upper-Limb Rehabilitation Robot for ADL-Based Training in Unstructured Daily Environments
Pengcheng Li, Shuxiang Guo, Jun Leng, Zixu Wang
Abstract
This paper presents a portable, cable-driven upper-limb rehabilitation robot designed for home-based activities of daily living (ADLs). The proposed robot is intended to assist hemiplegia patients with ADL-based rehabilitation, such as drinking water from a cup, in home settings. The robot features a rehabilitation control framework based on dynamic movement primitives (DMPs) that personalizes spatial profiles from healthy-limb demonstrations. It modulates movement velocity and inter-joint coordination online via human–robot interaction. The system was evaluated in a drinking task with ten healthy participants. Compared with a classic ( non-adaptive) DMP controller, the proposed robot increased voluntary participation (EMG amplitude: +64.71%) and reduced robotic assistance (assistance force: -56.10%), while also improving inter-joint coordination. These results indicate that the proposed system supports personalized, task-specific assistance and holds promise for home-based upper-limb rehabilitation.
BibTeX
@inproceedings{ral2026_acabledrivenhome,
title = {A Cable-Driven Home-Based Upper-Limb Rehabilitation Robot for ADL-Based Training in Unstructured Daily Environments},
author = {Pengcheng Li and Shuxiang Guo and Jun Leng and Zixu Wang},
booktitle = {RA-L 2026},
year = {2026}
}