Parallel Manipulators with Lower Mobility

Gregorio, Raffaele Di

doi:10.5772/5030

Cited by 2 publications

(1 citation statement)

References 44 publications

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“…We have developed a unique research approach that utilizes concepts such as screws, Plucker coordinates, and the product of exponentials from screw theory studied in [23][24][25][26]. We sought out works about lower-mobility parallel mechanisms [27,28]. Additionally, we used an approximated patient-specific ankle model to reconfigure the device.…”

Section: Introductionmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.

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Section: Introductionmentioning

confidence: 99%

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera

2023

Robotics

View full text Add to dashboard Cite

show abstract

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

Vargas-Riaño,

Agudelo-Varela,

Valera Fernández

2023

Preprint

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The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present cable-driven reconfigurable robot kinematics and statics. We studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Likewise, we propose a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporate a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We reconfigure the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Likewise, we also computed the workspace to show that the reconfigurable design fits several sizes. The data used is from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators.

show abstract

Parallel Manipulators with Lower Mobility

Cited by 2 publications

References 44 publications

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot

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