Design and Development of a New Cable-Driven Parallel Robot for Waist Rehabilitation

Qiao, Chen; Zi, Bin; Sun, Zhi; Li, Yuan; Xu, Qingsong

doi:10.1109/tmech.2019.2917294

Cited by 89 publications

(47 citation statements)

References 32 publications

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“…The unique characteristics of oscillation as well as its potential for various applications (e.g., soft robots for walking or swimming, self‐cleaning surfaces, and energy coupling) inspire us to devise novel types of artificial self‐oscillating actuators with self‐sustained autonomous motion under a constant environment 3–8. However, at present, most of the smart actuators for converting external environmental stimuli into mechanical deformation can only produce unsustainable single motion under constant stimulation, which lacks the autonomy compared with self‐oscillation in nature 9–19. To realize repeated and continuous autonomous motion, the control devices and systems for dynamically regulating the variation or on‐off switching of the external stimuli are commonly required 20–27.…”

Section: Introductionmentioning

confidence: 99%

An Autonomous Soft Actuator with Light‐Driven Self‐Sustained Wavelike Oscillation for Phototactic Self‐Locomotion and Power Generation

Yang

Chang

et al. 2020

Adv Funct Materials

110

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Mimicking the intelligence of biological organisms in artificial systems to design smart actuators that act autonomously in response to constant environmental stimuli is crucial to the construction of intelligent biomimetic robots and devices, but remains a great challenge. Here, a light-driven autonomous carbon-nanotube-based bimorph actuator is developed through an elaborate structural design. This curled droplet-shaped actuator can be simply driven by constant white light irradiation, self-propelled by a lightmechanical negative feedback loop created by light-driven actuation, time delay in the photothermal response along the actuator, and good elasticity from the curled structure, performing a continuously self-oscillating motion in a wavelike fashion, which mimics the human sit-up motion. Moreover, this autonomous self-oscillating motion can be further tuned by controlling the intensity and direction of the incident light. The autonomous actuator with continuous wavelike oscillating motion shows immense potential in light-driven biomimetic soft robots and optical-energy-harvesting devices. Furthermore, a self-locomotive artificial snake with phototaxis is constructed, which autonomously and continuously crawls toward the light source in a wave-propagating manner under constant light irradiation. This snake can be placed on a substrate made of triboelectric materials to realize continuous electric output when exposed to constant light illumination.

show abstract

Section: Introductionmentioning

confidence: 99%

An Autonomous Soft Actuator with Light‐Driven Self‐Sustained Wavelike Oscillation for Phototactic Self‐Locomotion and Power Generation

Yang

Chang

et al. 2020

Adv Funct Materials

110

View full text Add to dashboard Cite

show abstract

“…Mao et al designed a Cable-Driven Arm Exoskeleton (CAREX) for neural rehabilitation to achieve desired forces on the hand in any direction, as required in neural training [21]. Chen et al proposed a cable-driven parallel waist rehabilitation robot, which can accurately implement the relative lateral bending, flexion, extension, and rotation of the waist on the premise of the safety, to assist the patients with waist injuries to do some rehabilitation training [22]. Chen et al designed a two-degrees-of-freedom tethered exoskeleton that can provide independent torque control on elbow flexion/extension and forearm supination/pronation by two identical series elastic actuators (SEAs), which are coupled through a novel cable-driven differential [23].…”

Section: Introductionmentioning

confidence: 99%

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

Zhao

Liang

et al. 2020

IJERPH

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In view of the urgent need for intelligent rehabilitation equipment for some disabled people, an intelligent, upper limb rehabilitation training robot is designed by applying the theories of artificial intelligence, information, control, human-machine engineering, and more. A new robot structure is proposed that combines the use of a flexible rope with an exoskeleton. By introducing environmentally intelligent ergonomics, combined with virtual reality, multi-channel information fusion interaction technology and big-data analysis, a collaborative, efficient, and intelligent remote rehabilitation system based on a human’s natural response and other related big-data information is constructed. For the multi-degree of the freedom robot system, optimal adaptive robust control design is introduced based on Udwdia-Kalaba theory and fuzzy set theory. The new equipment will help doctors and medical institutions to optimize both rehabilitation programs and their management, so that patients are more comfortable, safer, and more active in their rehabilitation training in order to obtain better rehabilitation results.

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“…One intrinsic disadvantage of CSPRs is that cables can only drag the end-effector but cannot push it [1][2][3]. In the last few decades, CSPRs have been widely applied in various fields due to their attractive merits, such as hoisting heavy loads [4,5], large radio telescope [6,7], high-speed manipulation [8], wind tunnel test [9], camera robot [10], 3D printer [11][12][13], rehabilitation robot [14,15], building construction [16,17], and haptic devices [18].…”

Section: Introductionmentioning

confidence: 99%

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

Zhao

Qian

et al. 2020

Chin. J. Mech. Eng.

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To avoid impacts and vibrations during the processes of acceleration and deceleration while possessing flexible working ways for cable-suspended parallel robots (CSPRs), point-to-point trajectory planning demands an under-constrained cable-suspended parallel robot (UCPR) with variable angle and height cable mast as described in this paper. The end-effector of the UCPR with three cables can achieve three translational degrees of freedom (DOFs). The inverse kinematic and dynamic modeling of the UCPR considering the angle and height of cable mast are completed. The motion trajectory of the end-effector comprising six segments is given. The connection points of the trajectory segments (except for point P3 in the X direction) are devised to have zero instantaneous velocities, which ensure that the acceleration has continuity and the planned acceleration curve achieves smooth transition. The trajectory is respectively planned using three algebraic methods, including fifth degree polynomial, cycloid trajectory, and doubleS velocity curve. The results indicate that the trajectory planned by fifth degree polynomial method is much closer to the given trajectory of the end-effector. Numerical simulation and experiments are accomplished for the given trajectory based on fifth degree polynomial planning. At the points where the velocity suddenly changes, the length and tension variation curves of the planned and unplanned three cables are compared and analyzed. The OptiTrack motion capture system is adopted to track the end-effector of the UCPR during the experiment. The effectiveness and feasibility of fifth degree polynomial planning are validated.

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Design and Development of a New Cable-Driven Parallel Robot for Waist Rehabilitation

Cited by 89 publications

References 32 publications

An Autonomous Soft Actuator with Light‐Driven Self‐Sustained Wavelike Oscillation for Phototactic Self‐Locomotion and Power Generation

An Autonomous Soft Actuator with Light‐Driven Self‐Sustained Wavelike Oscillation for Phototactic Self‐Locomotion and Power Generation

A New Design Scheme for Intelligent Upper Limb Rehabilitation Training Robot

Algebraic Method-Based Point-to-Point Trajectory Planning of an Under-Constrained Cable-Suspended Parallel Robot with Variable Angle and Height Cable Mast

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