A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Vallés, Marina; Cazalilla, José; Valera, Ángel; Mata, Vicente; Page, Álvaro; Díaz‐Rodríguez, Miguel

doi:10.1017/s0263574715000120

Cited by 40 publications

(30 citation statements)

References 38 publications

(36 reference statements)

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“…The parallel mechanism consists of three active legs, and each leg is powered by a brushless servo DC motor. 44 Most of the platform-based ankle robots require the patient's foot to be placed on top of a platform which is maneuvered by actuators placed underneath. These designs resulted in coupled motions of the shank and the foot which further give rise to control-related problems.…”

Section: Parallel Ankle Robotsmentioning

confidence: 99%

“…43 A low-cost 3-PRS (prismatic–revolute–spherical) parallel manipulator has also been proposed for ankle joint rehabilitation. 44 The parallel manipulator can provide actuation to the plantar/dorsiflexion and inversion/eversion motions. An orthopedic boot worn by the patient has a force sensor, and the patient is required to put his/her foot along with the boot on the parallel robot.…”

Section: Ankle Robot Mechanism Designmentioning

confidence: 99%

“…The parallel mechanism consists of three active legs, and each leg is powered by a brushless servo DC motor. 44…”

Section: Ankle Robot Mechanism Designmentioning

confidence: 99%

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State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Hussain

Jamwal

Ghayesh

2017

Proc Inst Mech Eng H

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There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

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Section: Parallel Ankle Robotsmentioning

confidence: 99%

Section: Ankle Robot Mechanism Designmentioning

confidence: 99%

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State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Hussain

Jamwal

Ghayesh

2017

Proc Inst Mech Eng H

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“…Two members of the multidisciplinary team involved in the project (Page et al 2013;Vallés et al 2015) were assigned to research biomechanical aspects of the knee joint, and also to review current devices for knee rehabilitation and diagnosis. After a set of presentations and discussions involving most of the members of the project, we established the kinematic requirements, which are the DoF and the range of motion (RoM) required to accomplish both tasks: rehabilitation and diagnosis.…”

Section: Design Specificationmentioning

confidence: 99%

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2016

ROMANSY 21 - Robot Design, Dynamics and Control

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Nowadays, rehabilitation robots represent a field in which a variety of robotic devices have been proposed. One example of such devices is lower-limb rehabilitation robots. Specifically, the knee joint is one of the joints whose rehabilitation is foreseen as a potential task for a robot device. This paper describes the design of a robot for knee diagnosis and rehabilitation. First, we established the design specification by studying the mobility needed at the robot's end-effector to deal with diagnosis and rehabilitation treatments for knee injuries. The analysis led us to conclude that 4 • of freedom (DoF), two translation (2T) and two rotational (2R), are needed in order to meet the design specifications. After that, we chose a parallel robot with a 3-UPS/RPU architecture from several conceptual designs of 4 DoF (2T2R) parallel robots. For the chosen robot, we developed the inverse kinematic model, and also we established the preliminary dimensions of the robot. Through simulations, we found the workspace of the robot showing that its end-effector is able to follow a prescribed task taken from studying the leg motion. Finally, we built a prototype, which is currently undergoing dynamic modelling, parameter identification and control design stages.

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“…One of the first PM proposed for ankle rehabilitation was the Rutgers Ankle device, designed based on a 6-DoF architecture [10]. Nonetheless, ankle rehabilitation therapies require less than 6-DoF, references [11] and [12] have proposed PMs with 3-DoF, to name a few. PMs with fewer DOF can enter in the group of lower-mobility robots (LMR).…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Cited by 40 publications

References 38 publications

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

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