Analysis of Optimal Cable Configurations in the Design of a 3-DOF Cable-Driven Robot Leg

Bryson, Joshua T.; Agrawal, Sunil K.

doi:10.1115/detc2014-34656

Cited by 6 publications

(7 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Current lower limb CDRDs typically do not incorporate out-of-sagittal plane motion (hip adduction) or allow for it passively in their physical design. Bi-planar cable driven devices have been mostly developed for upper limb rehabilitation 18 – 21 , with only a few addressing the lower limb 32 . In a previous work 33 , we proposed a novel 3DOF cable driven model for a lower Limb Rehabilitation Exoskeleton (C-LREX) which accommodates flexion/extension of the hip and knee joint, as well as, adduction/abduction of the hip joint.…”

Section: Introductionmentioning

confidence: 99%

Muscle-inspired bi-planar cable routing: a novel framework for designing cable driven lower limb rehabilitation exoskeletons (C-LREX)

Prasad,

El-Rich,

Awad

et al. 2024

Sci Rep

Self Cite

View full text Add to dashboard Cite

There is a growing interest in the research and development of Cable Driven Rehabilitation Devices (CDRDs) due to multiple inherent features attractive to clinical applications, including low inertia, lightweight, high payload-to-weight ratio, large workspace, and modular design. However, previous CDRDs have mainly focused on modifying motor impairment in the sagittal plane, despite the fact that neurological disorders, such as stroke, often involve postural control and gait impairment in multiple planes. To address this gap, this work introduces a novel framework for designing a cable-driven lower limb rehabilitation exoskeleton which can assist with bi-planar impaired posture and gait. The framework used a lower limb model to analyze different cable routings inspired by human muscle architecture and attachment schemes to identify optimal routing and associated parameters. The selected cable routings were safeguarded for non-interference with the human body while generating bi-directional joint moments. The subsequent optimal cable routing model was then implemented in simulations of tracking reference healthy trajectory with bi-planar impaired gait (both in the sagittal and frontal planes). The results showed that controlling joints independently via cables yielded better performance compared to dependent control. Routing long cables through intermediate hinges reduced the peak tensions in the cables, however, at a cost of induced additional joint forces. Overall, this study provides a systematic and quantitative in silico approach, featured with accessible graphical user interface (GUI), for designing subject-specific, safe, and effective lower limb cable-driven exoskeletons for rehabilitation with options for multi-planar personalized impairment-specific features.

show abstract

Section: Introductionmentioning

confidence: 99%

Muscle-inspired bi-planar cable routing: a novel framework for designing cable driven lower limb rehabilitation exoskeletons (C-LREX)

Prasad,

El-Rich,

Awad

et al. 2024

Sci Rep

Self Cite

View full text Add to dashboard Cite

show abstract

“…Thus, to restore natural gait more closely, both weight and inertia-induced vibrations need to be minimized. Cable-driven rehabilitation devices (CDRD) were introduced to overcome these limitations ( Bryson and Agrawal, 2014 ; Jin et al, 2015 ; Alamdari and Krovi, 2016 ; Witte et al, 2017 ). For Example, employing Bowden cables as transmission elements facilitate the remote location of the actuators and minimize the inertia and inertial vibration on the impaired limb as well as the need for strong structural support.…”

Section: Introductionmentioning

confidence: 99%

“…Although the device showed its potential as a knee rehabilitator, rehabilitating the knee joint alone was sufficient to regain a healthy gait trajectory in stroke patients. Bryson et al ( Bryson and Agrawal, 2014 ) analyzed a 3 DOFs robot leg actuated device using 4 cables to identify the optimal parameters most commonly associated with performance, such as cable routing and configuration. The configuration fulfilling the design requirements based on the analysis was used in designing the cable-driven robot.…”

Section: Introductionmentioning

confidence: 99%

A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons

Prasad

El‐Rich

Awad

et al. 2022

Front. Bioeng. Biotechnol.

View full text Add to dashboard Cite

The global increase in the number of stroke patients and limited accessibility to rehabilitation has promoted an increase in the design and development of mobile exoskeletons. Robot-assisted mobile rehabilitation is rapidly emerging as a viable tool as it could provide intensive repetitive movement training and timely standardized delivery of therapy as compared to conventional manual therapy. However, the majority of existing lower limb exoskeletons continue to be heavy and induce unnecessary inertia and inertial vibration on the limb. Cable-driven exoskeletons can overcome these issues with the provision of remote actuation. However, the number of cables and routing can be selected in various ways posing a challenge to designers regarding the optimal design configuration. In this work, a simulation-based generalized framework for modelling and assessment of cable-driven mobile exoskeleton is proposed. The framework can be implemented to identify a ‘suitable’ configuration from several potential ones or to identify the optimal routing parameters for a given configuration. For a proof of concept, four conceptual configurations of cable-driven exoskeletons (one with a spring) were developed in a manner where both positive and negative moments could be generated for each joint (antagonistic configuration). The models were analyzed using the proposed framework and a decision metric table has been developed based on the models’ performance and requirements. The weight of the metrics can be adjusted depending on the preferences and specified constraints. The maximum score is assigned to the configuration with minimum requirement or error, maximum performance, and vice versa. The metric table indicated that the 4-cable configuration is a promising design option for a lower limb rehabilitation exoskeleton based on tracking performance, model requirements, and component forces exerted on the limb.

show abstract

“…It is noteworthy that the operational workspace of multibody cable-driven systems is largely impacted by the choice of cable placement and routing. Bryson and Agrawal [20] identified and analyzed cable configurations for serial robot driven by cables. Yan et al [21] designed a 7-DOF humanoid arm driven with 14 cables.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training

Alamdari

Krovi

2016

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

Assisted motor therapies play a critical role in enhancing functional musculoskeletal recovery and neurological rehabilitation. Our long term goal is to assist and automate the performance of repetitive motor-therapy of the human lower limbs. Hence, in this paper, we examine the viability of a light-weight and reconfigurable hybrid (articulatedmultibody and cable) robotic system for assisting lowerextremity rehabilitation and analyze its performance. A hybrid cable-actuated articulated multibody system is formed when multiple cables are attached from a ground-frame to various locations on an articulated-linkage based orthosis. Our efforts initially focus on developing an analysis and simulation framework for the kinematics and dynamics of the cable-driven lower limb orthosis. A Monte Carlo approach is employed to select configuration parameters including cuff sizes, cuff locations, and the position of fixed winches. The desired motions for the rehabilitative exercises are prescribed based upon motion patterns from a normative subject cohort. We examine the viability of using two controllers -a joint-space feedback linearized PD controller and a task-space force-control strategy -to realize trajectory-and path-tracking of the desired motions within a simulation environment. In particular, we examine performance in terms of (i) coordinated control of the redundant system; (ii) reducing internal stresses within the lowerextremity joints; and (iii) continued satisfaction of the unilateral cable-tension constraints throughout the workspace. A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Alamdari 2 A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Journal of Mechanisms and Robotics.A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mechanismsrobotics.asmedigitalcollection.asme.org/ on 01/05/2016 Terms of Use: http://www.asme.org/about-asme/terms-of-use Alamdari 7 A c c e p t e d M a n u s c r i p t N o t C o p y e d i t e d Downloaded From: http://mech...

show abstract

Analysis of Optimal Cable Configurations in the Design of a 3-DOF Cable-Driven Robot Leg

Cited by 6 publications

References 0 publications

Muscle-inspired bi-planar cable routing: a novel framework for designing cable driven lower limb rehabilitation exoskeletons (C-LREX)

Muscle-inspired bi-planar cable routing: a novel framework for designing cable driven lower limb rehabilitation exoskeletons (C-LREX)

A Framework for Determining the Performance and Requirements of Cable-Driven Mobile Lower Limb Rehabilitation Exoskeletons

Design and Analysis of a Cable-Driven Articulated Rehabilitation System for Gait Training

Contact Info

Product

Resources

About