a. mashayekh

Diseases such as heart and brain attacks, which sometimes lead to movement disorders in people, has raised with an increasing community age. Nowadays, medical scientists replaced rehabilitation robots instead of traditional therapeutic methods. Design and implementation of a low-cost and home-like usable device for a patient was the primary goal of this research. In this study, a robot which consisted of cable and springs for movement in the transverse plane of the human body was introduced. For this purpose, stiffness and free length of springs were achieved by an optimization process, firstly. Afterward, static and dynamic workspace calculated to identify robot mechanical characteristic. At the end, controllability of the system in different paths in two conditions of presence and absence of the patient's hand was investigated and verified by the results obtained by the built device. Dynamic and static workspace indicates that a patient can do exercises with the help of the designed robot. Also, the control results and the obtained results from the implemented device test shows the stability of the control system and its ability to eliminate possible error occurring in the path.