Inverse kinematics and workspace analysis of a bio-inspired flexible parallel robot

Gao, Bingtuan; Song, Honggang; Sun, Liankun; Tang, Yi

doi:10.1109/cyber.2013.6705434

Cited by 7 publications

(9 citation statements)

References 13 publications

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“…The main disadvantage of this mechanism lie in its complexity in terms of the serial setup using differential drives [36]. Gao et al (2013) have carried out workspace analysis for a 3-DoF cable-driven flexible parallel mechanism. This design consists of a moving platform connected to the fixed base using cables, each separated by 120 • from the other, where a compression spring serves as a cervical spine between the two platforms and is driven by motors located at the fixed platform [37].…”

Section: Head/neck Mechanisms For Wearable Assistive Devicesmentioning

confidence: 99%

“…Gao et al (2013) have carried out workspace analysis for a 3-DoF cable-driven flexible parallel mechanism. This design consists of a moving platform connected to the fixed base using cables, each separated by 120 • from the other, where a compression spring serves as a cervical spine between the two platforms and is driven by motors located at the fixed platform [37]. Gao et al (2014) designed a 2-DoF lateral-bending spring spine using a cable-driven parallel mechanism.…”

Section: Head/neck Mechanisms For Wearable Assistive Devicesmentioning

confidence: 99%

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Wearable Assistive Rehabilitation Robotic Devices—A Comprehensive Review

Lingampally,

Ramanathan,

Shanmugam

et al. 2024

Machines

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This article details the existing wearable assistive devices that could mimic a human’s active range of motion and aid individuals in recovering from stroke. The survey has identified several risk factors associated with musculoskeletal pain, including physical factors such as engaging in high-intensity exercises, experiencing trauma, aging, dizziness, accidents, and damage from the regular wear and tear of daily activities. These physical risk factors impact vital body parts such as the cervical spine, spinal cord, ankle, elbow, and others, leading to dysfunction, a decrease in the range of motion, and diminished coordination ability, and also influencing the ability to perform the activities of daily living (ADL), such as speaking, breathing and other neurological responses. An individual with these musculoskeletal disorders requires therapies to regain and restore the natural movement. These therapies require an experienced physician to treat the patient, which makes the process expensive and unreliable because the physician might not repeat the same procedure accurately due to fatigue. These reasons motivated researchers to develop and control robotics-based wearable assistive devices for various musculoskeletal disorders, with economical and accessible solutions to aid, mimic, and reinstate the natural active range of motion. Recently, advancements in wearable sensor technologies have been explored in healthcare by integrating machine-learning (ML) and artificial intelligence (AI) techniques to analyze the data and predict the required setting for the user. This review provides a comprehensive discussion on the importance of personalized wearable devices in pre- and post-clinical settings and aids in the recovery process.

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Section: Head/neck Mechanisms For Wearable Assistive Devicesmentioning

confidence: 99%

Section: Head/neck Mechanisms For Wearable Assistive Devicesmentioning

confidence: 99%

Wearable Assistive Rehabilitation Robotic Devices—A Comprehensive Review

Lingampally,

Ramanathan,

Shanmugam

et al. 2024

Machines

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“…This robot employed three cables and a compression spring to serve as its flexible spine, replicating the motion of the head. Inverse kinematics were addressed using quaternion methods, and workspace analysis was performed under positive cable tension constraints, all validated through simulations [39].…”

Section: Parallel Robot For Neck Humanoidmentioning

confidence: 99%

“…These designs emphasize human mimicry, offering smooth and organic movements. Examples include neck movements [39][40][41], wrist motion [68,74], and shoulder movements [45,53] In terms of mimicking human biomechanics, cable-driven robots excel in recreating neck and cervical spine movements, while various exoskeletons and prosthetics, such as 7DoF shoulder and arm mechanisms, offer enhanced spatial characteristics.…”

mentioning

confidence: 99%

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

Abarca,

Elias

2023

Robotics

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This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots.

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“…Considering β as the flexural rigidity after compression of the spring [25], the lateral bending curve of the spring spine can be taken as the following linear equation [26]:…”

Section: Robotic Neckmentioning

confidence: 99%

A first approach to a proposal of a soft robotic link acting as a neck

Nagua¹,

Muñoz²,

Monje³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.

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Inverse kinematics and workspace analysis of a bio-inspired flexible parallel robot

Cited by 7 publications

References 13 publications

Wearable Assistive Rehabilitation Robotic Devices—A Comprehensive Review

Wearable Assistive Rehabilitation Robotic Devices—A Comprehensive Review

A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints

A first approach to a proposal of a soft robotic link acting as a neck

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