Static force and tipover stability analysis of an assistive device for paraplegics

Abstract

Stability plays a vital role in any robotic system. Its significance increases in systems related to health and medicine. For rehabilitation devices meant for Spinal Cord Injury (SCI) patients, stability is crucial and key element in ensuring patient safety and the usefulness of the devices. In this study, kinematics, force analysis, and the static tip-over stability of a device for rehabilitation of paraplegic patients is discussed. Kinematics modeling and static force analysis provide critical information about position and loading at different points on the device. Force-Angle Stability Criterion is used to find the static tip-over stability of the device while the patient is on board the device. The Criterion relies on the support boundary, tip-over mode axes, and the Center of Mass (COM) of the complete system. The Criterion is sensitive to the COM position and therefore is more suitable for the application. The linear actuator mounted on the device causes the end effector of the device to move. The patient, strapped with the end effector, in turn moves from sitting position to standing position. The study focuses on the analysis of stability based on changing COM during this motion. The results verify that although the system is well within the stability bounds, it is more stable as it moves from sitting position to standing position.

Configuration selection for tip-over stability of a modular reconfigurable mobile manipulator under various application situations

“…for decades with many criteria proposed to measure the stability margin of a mobile system, for example, center of gravity, static stability margin, zero moment point (ZMP), longitudinal stability margin [16], dynamic stability margin [17], tumble stability judgment [18], leg-end supporting moment [19], force-angle stability (FA) [20], foot-rotation indicator (FRI) [21], moment-height stability [22], stability pyramid, and tip-over moment (TOM) [13,23,24]. With these criteria, several path planning and guidance control methods were proposed.…”