Mechanism Design and Kinematic Analysis of a Waist and Lower Limbs Cable-Driven Parallel Rehabilitation Robot

Yang, Zhengmeng; Zi, Bin; Chen, Bing

doi:10.1109/imcec46724.2019.8983811

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…The last group of CDRRs targets patients with waist injuries, Contrary to CDRRs for upper limb or lower limb rehabilitation, limited work has been done in developing CDRRs for the waist rehabilitation. The existing CDRRs are HWRR-Waist Rehabilitation Robot [111], [112], CDPR [113], CPRWR [114], and CDPRR [115]. Table 7 shows list of CDRRs for waist rehabilitation and their features with more detail.…”

Section: Cable-driven Robots For Waistmentioning

confidence: 99%

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

et al. 2021

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Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with human. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs.

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Section: Cable-driven Robots For Waistmentioning

confidence: 99%

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

et al. 2021

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“…Ennaiem et al [18] designed a three-degreeof-freedom planar cable-driven robot, which selects single objective optimization to help patients better complete the specified actions of upper limbs. Yang et al [19] designed a rehabilitation robot combining a cable-driven mobile platform and an adjustable lower extremity exoskeleton device, which can perform rehabilitation training on the waist and lower limbs. Wang et al [20] developed rigid-flexible hybrid lower limb rehabilitation robot comprehensively considers the cable tension, position of the traction points and system stiffness to study its dynamic stability evaluation method, which provides a consultation for rehabilitation training task planning and control strategies.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

Zhang

Cao

2021

Applied Sciences

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In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is applied to establish the kinematic model of the robot, and the relationship between the human joint angle and the cable length change was deduced. Considering joint compliance, a fifth-order polynomial trajectory planning method based on an S-shaped curve is proposed by introducing an S-shaped velocity curve, and the changes in cable length displacement, velocity, and acceleration are simulated and analyzed. Three planning methods are compared based on two indices, and experimental verification is carried out on the rehabilitation experiment platform. The simulation and experimental results show that the trajectory planning method presents low energy consumption and strong flexibility, and can achieve better rehabilitation effect, which builds a good basis for the subsequent study of dynamics and control strategy.

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Design and Experimental Research of Cable-Driven Upper-Limb Rehabilitation Robot

Zou

Zhang

et al. 2021

Intelligent Robotics and Applications

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Mechanism Design and Kinematic Analysis of a Waist and Lower Limbs Cable-Driven Parallel Rehabilitation Robot

Cited by 3 publications

References 14 publications

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

Design and Experimental Research of Cable-Driven Upper-Limb Rehabilitation Robot

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