Design and Performance of Table ASSIST-EW: An Assisting Device for Elbow and Wrist

Abstract

This paper presents the design and performance of Table ASSIST-EW, a portable adaptable user-friendly cable-driven device that can be used on a table to support elbow and wrist exercises. This device is intended for older adults who experience arm weakness due to aging. Table ASSIST-EW has been developed based on results from testing and practical insights from biomechanics and robotics to address challenges in human–robot interaction that limit the use of assistive technologies. Table ASSIST-EW is designed to assist natural arm movements during motion exercise and rehabilitation, making the motion assistance easy and easily engaged for users. The design process is explained starting from identifying user needs up to the creation of a prototype. A key feature of Table ASSIST-EW is its cable-driven actuation system. The design is inspired by a previous device, L-CADEL, which went through several design revisions. The lessons learned from L-CADEL’s development and test experiences suggested design solutions for Table ASSIST-EW’s structure, function, and use. This paper discusses the background, design requirements, system development, and performance evaluation. The results show that the Table ASSIST-EW device meets important goals in usability and functionality, making it a promising solution for robotic rehabilitation and motion exercise for the elderly.