Cable-driven parallel robots for human interaction: Approaches and applications

Abstract Cable-Driven Parallel Robots (CDPR) have gained increasing attention in human-machine-interaction, particularly in haptics and rehabilitation. Despite their different objectives, both fields share fundamental requirements such as safety, configurability and precise force control. This review provides an overview of existing CDPR implementations designed for human interaction, categorizing and analyzing systems based on their design principles and kinematic properties. Key motivations for using CDPR in these applications are discussed, along with current limitations and promising directions. The findings indicate that CDPR offer an underrated yet promising solution for human-machine-interaction.