Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Wang, Yanlin; Wang, Keyi; Chai, Yu-jia; Mo, Zong-Jun; Wang, Kui-cheng

doi:10.1017/s0263574721000448

Cited by 16 publications

(9 citation statements)

References 28 publications

(36 reference statements)

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“…Exoskeletons and wearable devices for physiotherapeutic applications of many varieties are well described in literature, though most currently available exoskeletons for lower-limb physical therapy consist of rigid materials and rigid actuation schemes such as DC motors, gear boxes ( Sancho-Pérez et al., 2016 ; Wu et al., 2016 ; Narayan and Kumar Dwivedy, 2021 ), cable transmission mechanisms ( Asbeck et al., 2015 ; Ding et al., 2018 ; Di Natali et al., 2020 ; Wang et al., 2022 ), and bar mechanisms ( Chaparro-Rico et al., 2015 ). These types of exoskeletons and mechanisms provide high forces, repeatable assistance and good structural support, but have drawbacks in patient comfort and safety due to heavy, rigid components that pose risks for pinching and other forms of mechanical injury.…”

Section: Introductionmentioning

confidence: 99%

A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants

et al. 2023

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Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots.

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Section: Introductionmentioning

confidence: 99%

A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants

et al. 2023

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“…[12]. They can be used as motion simulators [13], large-scale telescope orientation [14], large-scale camera systems [15], and construction [16], to name just a few examples even with applications to industrial scenarios as reported in [17][18][19]. CDPRs have been successfully implemented also in medical applications such as for assisting post-stroke or paraplegia patients such as reported for example in refs.…”

Section: Introductionmentioning

confidence: 99%

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Khadem,

Inel,

Carbone

et al. 2023

Robotica

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This paper presents a novel cable-driven parallel robot with the aim of rehabilitating/exercising young and disabled children in drawing and writing tasks. The pyramidal topology was identified as providing the required three active translational Degrees of Freedom with a redundant set of five cables in a compact portable shape. In addition, this robot was designed with new features, as it is inexpensive, easy to control, easy to move to any place at home or school as it is fitting a home desk or classroom table. In this paper, we present the main steps for designing the proposed cable-driven pyramidal parallel robot. Specific attention is addressed to the design of the structure and the end effector as well as to establishing proper simulation models. Several simulations are proposed by implementing both kinematic and dynamic models to demonstrate the feasibility of multiple writing/drawing tasks. A specific user interface is proposed allowing both continuous and intermittent trajectories. A sliding mode control is implemented to achieve suitable tracking accuracy on a desired path. Finally, an experimental validation is successfully carried out by considering multiple trajectories for demonstrating the engineering feasibility and effectiveness of the proposed design and simulation models.

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“…CDPRs have the advantages of large workspace, light weight, high load capacity, fast response, and easy reconfiguration. As a result, they are widely used in the fields of the aerial panoramic photographing [3,4], the medical rehabilitation [5,6], the wind tunnel test [7][8][9][10], the radio telescope [11], and so on.…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables

et al. 2023

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Flexible cables in cable-driven parallel robots (CDPRs) are easy to be excited and vibrate. Cable vibration will react on the end-effector, causing attitude deviation of the end-effector. The main objective of this study is to accurately model axially moving flexible cables and characterize the dynamic behaviors of associated compliant CDPRs. Firstly, a model for transverse vibration of the axially moving length-variable cable is developed. On this basis, an original nonlinear dynamic model of the CDPRs able to capture the vibration of the cables and the dynamics of the end-effector is proposed. Secondly, the frequency–amplitude relationship of the CDPR is obtained. Moreover, the significance of the excitation effect caused by the axially moving length-variable cables is demonstrated, by comparing the results with and without excitation effect at different frequencies. It turns out that, as the oscillation frequency of the end-effector increases, the end-effector and cables exhibit the dynamics process from steady state to unstable large-amplitude vibration and finally to stable small-amplitude vibration. This indicates that the dynamics of the CDPR exhibit non-linear characteristics, due to the influence of flexible cables. Finally, the proposed dynamic model of compliant CDPRs is validated by experiments performed in the laboratory.

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Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Cited by 16 publications

References 28 publications

A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants

A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants

A novel pyramidal cable-driven robot for exercising and rehabilitation of writing tasks

Dynamic modeling and characterization of compliant cable-driven parallel robots containing flexible cables

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