An algebraic parameterization approach for parallel robots analysis

Husty, Manfred L.; Bîrlescu, Iosif; Tucan, Paul; Vaida, Călin; Pîslă, Doina

doi:10.1016/j.mechmachtheory.2019.05.024

Cited by 32 publications

(16 citation statements)

References 13 publications

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“…In order to overcome this difficult situation, robotic structures for post-stroke rehabilitation of upper or lower limb started to be developed, being a suitable aid for the kinetotherapist performing the repetitive rehabilitation motions. In the last decades, a series of robotic structures for medical rehabilitation of the upper limb have been developed and analyzed by Huang [6], Al-Fahaan [7], Vaida [8,9], Carbone [10], Görgülü [11], Husty [12], Berceanu [13], Tarnita [14], Gherman [15], Tucan [16] and furthermore systematically reviewed by Ona [17,18], Baur [19], Onase [20], and Rehmat [21]. Some significant research prototypes are presented below.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Tucan

Gherman

Major

et al. 2020

IJERPH

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A few decades ago, robotics started to be implemented in the medical field, especially in the rehabilitation of patients with different neurological diseases that have led to neuromuscular disorders. The main concern regarding medical robots is their safety assurance in the medical environment. The goal of this paper is to assess the risk of a medical robotic system for elbow and wrist rehabilitation in terms of robot and patient safety. The approached risk assessment follows the ISO12100:2010 risk management chart in order to determine, identify, estimate, and evaluate the possible risk that can occur during the use of the robotic system. The result of the risk assessment process is further analyzed using a fuzzy logic system in order to determine the safety degree conferred during the use of the robotic system. The innovative process concerning the risk assessment allows the achievement of a reliable medical robotic system both for the patient and the clinicians as well. The clinical trials performed on a group of 18 patients validated the functionality and the safe behavior of the robotic system.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Tucan

Gherman

Major

et al. 2020

IJERPH

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“…In this case the kinematics establish simple relationships between the body joints and the robot' actuators which allow straightforward programming of any exercises which are defined by amplitude (angular) variations of the articulations. This is true since the kinematics of the robotic system is strongly correlated with the patients' lower limb joint motions (this result regarding the motion parameterization was also discussed in [29]). Some differences may exist between the value of the angle of the patient's joint and the value of the mechanism revolute joint angle (adjacent to the patient limb joint).…”

Section: Discussionmentioning

confidence: 78%

“…adjust to anthropometric variations), therefore the alignment of the mechanical joints with the anatomical joints is achievable; iii) the anchor elements placed on the RAISE robotic system are compliant (there is no fixture between the anchor elements of the mechanism with the lower limb segments), therefore during the rehabilitation exercises the lower limb is not forced into specific motions that may produce injury. The reasoning of choosing this simple kinematic model for the lower limb is also discussed in [29].…”

Section: A Geometric and Kinematic Modelling Of The Raise Robotic Symentioning

confidence: 99%

Systematic Design of a Parallel Robotic System for Lower Limb Rehabilitation

et al. 2020

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This paper presents the design of an innovative robotic system for lower limb post-stroke rehabilitation of bed confined patients during the acute stage of the treatment. To establish the particularities of each targeted joint motion, experimental measurements are performed on healthy subjects. The acquired data is used to determine the operational workspace, namely the limits of the anatomic joints motion for the lower limb. Based on the prescribed operational workspace, an innovative parallel robotic architecture is designed for achieving the rehabilitation of the lower limb. A detailed kinematic modelling and analysis is carried out to demonstrate the robot capability to safely achieve the required motions. The design of the robotic rehabilitation device is discussed in detail alongside with numerical simulations for validating its performance while performing medically relevant rehabilitation motions.

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“…where the P ins represents the coordinates of the target point (encoding also the orientation of the medical tool) P represents the insertion point and P l represents the insertion length; [1:0:0:0:0:−l/2:0:0] for the insertion along the X' axis (of the mobile frame), [1:0:0:0:0:0:−l/2:0] for the insertion along the Y' axis and [1:0:0:0:0:0:0:−l/2] for the insertion along the Z' axis. Equation (8) represents the linear insertion whereas Equation 9represents the retraction (i.e., the inverse operation) and it is given by multiplying with the conjugate of the dual quaternion. (2) The RCM manipulation between two configurations of the robot is given by:…”

Section: Of 17mentioning

confidence: 99%

“…One algebraic method based on the Study parameters (or dual quaternion) of SE (3) which is presented in [2][3][4], has the advantages (over some vector-based methods) that it describes the global kinematics of the mechanisms (showing all the working modes and being a powerful tool to find the mechanism singularities) and it is free of parameterization singularities. The Study parameters method was used in the analysis of various robotic systems such as the Stewart-Gough platform [5], the 3-RPS parallel manipulator [3], in the analysis of medical robots [4,6,7] and it was even tailored to analyze rehabilitation robots such as the one found in [8].…”

Section: Introductionmentioning

confidence: 99%

Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment

et al. 2019

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The paper presents a complete geometric analysis of a novel parallel medical robotic system designed for minimally invasive treatment of hepatic tumors using brachytherapy, ablation or targeted chemotherapy. An algebraic method based on the study parameters of the special Euclidean transformation Lie group SE(3) was used to determine the mechanism kinematics singularities and workspace. Moreover, two particular medical tool manipulations for the minimally invasive medical procedures are defined in terms of the Study parameters. The first manipulation of the medical tool refers to the linear insertion (of e.g., needles) and the second one is the remote center of motion manipulation of specific medical instruments (e.g., ultrasound probes). The constraint equations of the robotic system are derived and then, the operational workspace is illustrated for the novel parallel robotic system. Lastly, a numerical simulation is presented showing the behavior of the robotic system manipulating the ultrasound probe constrained by the remote center of motion. The geometric analysis of the operational workspace and the numerical simulation show promising results that validate the novel robotic system (safe-wise) for the medical procedure.

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An algebraic parameterization approach for parallel robots analysis

Cited by 32 publications

References 13 publications

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Fuzzy Logic-Based Risk Assessment of a Parallel Robot for Elbow and Wrist Rehabilitation

Systematic Design of a Parallel Robotic System for Lower Limb Rehabilitation

Complete Geometric Analysis Using the Study SE(3) Parameters for a Novel, Minimally Invasive Robot Used in Liver Cancer Treatment

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