Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation

Jin, Xuejun; Jun, Dae Ik; Jin, Xin; Park, Sukho; Park, Jong-Oh; Ko, Seong Young

doi:10.1109/iccas.2014.6988021

Cited by 5 publications

(6 citation statements)

References 9 publications

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“…There are large number of CDRRs designed for patients with upper limb disabilities. A few key technologies in cabledriven robots for upper limb rehabilitation are CAREX [8], [49], Dampace [50], Planar Cable-Driven Robot [51], [52], MEDARM [11], PACER [53] [54], and Active therapeutic device (ATD) [55] as shown in Fig. 2.…”

Section: A Cable-driven Robots For Upper Limbmentioning

confidence: 99%

“…They provide movements in a specific plane, but allow limb to move in threedimensional space. Planar Cable-Driven Robot [51], [52] is a parallel 3-DOF CDRR for upper limb rehabilitation. It provides relatively large workspace and less moving inertia.…”

Section: Level 4 Cs-l4mentioning

confidence: 99%

“…Upper and Lower Limbs: admittance-based controllers are found in few CDRRs and their performance was verified through experimental investigation and simulation, both for upper limb rehabilitation, such as Planar Cable-driven Parallel Robot [51], [52] and PACER robot [53], [54] and lower limb rehabilitation, such as Underactuated Lower Limb Exoskeleton [171] and LOKOIRAN [105].…”

Section: Admittance Based Controlmentioning

confidence: 99%

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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: A Cable-driven Robots For Upper Limbmentioning

confidence: 99%

Section: Level 4 Cs-l4mentioning

confidence: 99%

Section: Admittance Based Controlmentioning

confidence: 99%

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Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

et al. 2021

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“…The workspace of the rehabilitation robot is the set of points that the hand reference points can reach in space during the operation of the rehabilitation robot [37]. It is a key element to estimate the robot rehabilitation training.…”

Section: Workpace Analysismentioning

confidence: 99%

Design and Analysis of a Wearable Upper Limb Rehabilitation Robot with Characteristics of Tension Mechanism

Pang

Wang

et al. 2020

Applied Sciences

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Nowadays, patients with mild and moderate upper limb paralysis caused by cerebral apoplexy are uncomfortable with autonomous rehabilitation. In this paper, according to the “rope + toothed belt” generalized rope drive design scheme, we design a utility model for a wearable upper limb rehabilitation robot with a tension mechanism. Owing to study of the human upper extremity anatomy, movement mechanisms, and the ranges of motion, it can determine the range of motion angles of the human arm joints, and design the shoulder joint, elbow joint, and wrist joint separately under the principle of ensuring the minimum driving torque. Then, the kinematics, workspace and dynamics analysis of each structure are performed. Finally, the control system of the rehabilitation robot is designed. The experimental results show that the structure is convenient to wear on the human body, and the robot’s freedom of movement matches well with the freedom of movement of the human body. It can effectively support and traction the front and rear arms of the affected limb, and accurately transmit the applied traction force to the upper limb of the joints. The rationality of the wearable upper limb rehabilitation robot design is verified, which can help patients achieve rehabilitation training and provide an effective rehabilitation equipment for patients with hemiplegia caused by stroke.

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“…Drugą grupę stanowią mechaniczne przyrządy do rozciągania, zginania i odwodzenia kończyny, a także proste przyrządy pozwalające na podparcie kończyny oraz jej ruchliwość w określonym stawie -najczęściej łokciowym lub barkowym. Wybrane rozwiązania zaprezentowano w pracach [9,11]. Grupę tę uzupełniają szyny CPM (continuous passive motion) przeznaczone do ciągłej, biernej mobilizacji stawów i mięśni pacjentów z porażeniami wiotkimi, spastycznymi lub też z niedowładem o znacznym stopniu [1,7,8].…”

Section: Wybrane Systemy Do Rehabilitacji Kończyn Górnychunclassified

Mechatronic rehabilitation device based on a planar positioning system

Huścio¹,

Trochimczuk²

2015

Mechanik

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Przedstawiono rozwiązanie mechatronicznego urządzenia rehabilitacyjnego wspomagającego bierne i aktywne ćwiczenia osób z dysfunkcjami ruchowymi kończyny górnej w obrębie stawu łokciowego i barkowego. Bazą do stworzenia tego rozwiąza-nia był mechatroniczny pozycjoner planarny z łożyskowaniem aerostatycznym, zintegrowany z autorskim oprogramowaniem i specjalnym systemem sterującym. Zastosowanie w pozycjonerze sprężonego powietrza -jako czynnika smarującego -praktycznie eliminuje opory tarcia, będące główną przyczyną drgań relaksacyjnych w układzie. Ponadto zaprezentowano wybrane rozwiązania urządzeń do ćwiczeń biernych i aktywnych. Opisano budowę i zasadę działania współrzędnościowego pozycjonera planarnego, a także elementy zbudowanego systemu przeznaczonego do wspomagania terapii prowadzonej przez rehabilitanta. System w podstawowej konfiguracji umożliwia zadawanie ruchów w płaszczyźnie poziomej, z dopasowaniem ich właściwych trajektorii, dla określonych wartości prędkości i przyspieszenia. W konfiguracji rozszerzonej (dzięki możliwości umieszczenia pozycjonera planarnego na blacie stołu rehabilitacyjnego, pozwalającego na zmianę kąta nachylenia pozycjonera względem osoby ćwiczącej) ruch roboczy kończyny może być realizowany również w płaszczyźnie pionowej, co wydaje się istotne w przypadku niektórych form rehabilitacji. SŁOWA KLUCZOWE: urządzenie mechatroniczne, rehabilitacja, pozycjoner planarny This article presents a mechatronic solution of a rehabilitation devices supporting active and passive exercises for persons with motor dysfunctions of the upper limb in the area of the elbow and shoulder joints. A mechatronic planar positioner with aerostatic lubrication (aerostatic bearing), integrated with original software and a control system, served as the basis for creating the present solution. The application of compressed air as a lubricant practically eliminates frictional resistance, which is the main cause of relaxation oscillations in the system. Selected solutions of devices for active and passive exercises are presented. The design and operating principle of the planar coordinate positioner are described. Next, the components of the designed system for supporting therapy conducted by a rehabilitation specialist are presented. In its basic configuration, the system enables the performance of movements in the horizontal plane with adjustment of their proper trajectories, at preset values of speed and acceleration. In the expanded configuration, thanks to the possibility of placing a planar positioner on the top of a rehabilitation table that would provide the capability of changing the positioner's angle of inclination relative to the exercising person, the limb's working movement can also be performed in the sagittal (vertical) plane, which may be important in certain forms of rehabilitation. KEYWORDS: mechatronic system, rehabilitation process, planar positioning system Wydłużenie przeciętnego okresu życia człowieka, później-sze odchodzenie na emeryturę, propagowanie przez media aktywnego spędzania woln...

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Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation

Cited by 5 publications

References 9 publications

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Design and Analysis of a Wearable Upper Limb Rehabilitation Robot with Characteristics of Tension Mechanism

Mechatronic rehabilitation device based on a planar positioning system

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