Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

Ennaiem, Ferdaws; Chaker, Abdelbadiâ; Sandoval, Juan; Bennour, Sami; Mlika, Abdelfattah; Romdhane, Lotfi; Zeghloul, S.; Laribi, Med Amine

doi:10.1007/s42235-022-00162-8

Cited by 8 publications

(4 citation statements)

References 25 publications

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“…An intra-subject and an inter-subject variability analysis were carried out in ref. [28]. The analysis compared the subjects' gestures along the exercises to select a single prescribed workspace that fits with a maximum number of patients.…”

Section: The Prescribed Workpace Analysismentioning

confidence: 99%

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

et al. 2022

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Cable-driven parallel robots (CDPRs) are still gaining attention thanks to their interesting characteristics compared to serial or classic parallel manipulators. However, the limited range of rotation of their end-effectors reduces their application fields to predominantly translational movements. In this context, the issue of extending the rotational workspace of a CDPR while maintaining a compact robot structure is addressed in this paper. This work is motivated by the need to find the optimal CDPR for upper limb rehabilitation allowing to assist the patient’s hand along a set of prescribed tasks. Firstly, a reconfigurable robot, where the motors’ locations are movable, is proposed in order to help reaching all the prescribed poses. Although this solution presents promising results compared to classical CDPRs, it involves a sizable robot structure inadequate to rehabilitation application. To improve the obtained solution, another approach is proposed, based on combining the large translational workspace of CDPRs and the large rotational workspace of serial manipulators. The optimal structure of a hybrid robot will be considered for the prototype design.

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Section: The Prescribed Workpace Analysismentioning

confidence: 99%

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

et al. 2022

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“…The weight-bearing and lifting action of the upper limbs is one of the common sports behaviors in human daily life, which is irreplaceable. Exoskeleton robots can provide assistance during the upper limb movement process, help users share the weight of lifting objects, enhance the human body's own strength, and assist in fixing and supporting scenes, Reduce arm fatigue for users [1][2][3] .…”

Section: Introductionmentioning

confidence: 99%

Design of a convenient upper limb exoskeleton robot based on spring energy storage

Ning

Zhang

et al. 2023

Second International Conference on Advanced Manufacturing Technology and Manufacturing Systems (ICAMTMS 2023)

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The development of upper limb exoskeleton robots is an important stage in the high-quality development of robotics technology. The existing upper limb exoskeleton robots have a single function and complex structure, and their wearability needs to be improved. This paper designs a convenient upper limb exoskeleton robot based on spring energy storage, analyzes the degree of freedom of muscle joints when the human arm moves from the perspective of human bionics, solves the convenience and comfort of users' wearing from the mechanical structure, improves man-machine cooperation, analyzes the calculation principle of joint torque when the human arm moves, optimizes the spring energy storage module, and innovatively adopts the extension spring scheme, Increasing the interchangeability of parts is conducive to the convenient replacement of mechanical structures, and the combination of forearm assistance and boom assistance is used to effectively improve the assistance effect. The effectiveness of the prototype movement is verified by calculating the assistance ratio.

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“…However, the serial parallel hybrid configuration of robots has not yet been applied in the field of rehabilitation training lower limb robots. The traditional Stewart parallel robot was first invented as a motion simulator [10]. It has a high stiffness and strong load-bearing capacity, but it has difficultly achieving high-speed and high acceleration movements.…”

Section: Introductionmentioning

confidence: 99%

Research on a New Rehabilitation Robot for Balance Disorders

Wu,

Liu,

Zhao

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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The treatment of patients with balance disorders is an urgent problem to be solved by the medical community. The causes of balance disorders are diverse. An aging population, traffic accidents, stroke, genetic diseases and so on are all possible factors. It has brought great pain and inconvenience to patients and their families. At present, there are two main types of assisted rehabilitation training robots for patients with balance disorders: exoskeleton robots and end robots. The exoskeleton robot is generally installed on the outside of the patient's body to follow their movement, which can support the weight of the body and provide power support to help the patient train and recover lower limb ability. The use of end robots is usually to secure the patient's foot to the motion platform and control the pedal to drive the lower limbs to conduct gait training. Such passive training is more suitable for patients with severe disorders. The patient has low awareness of active participation. This paper focuses on research on end rehabilitation training robots for balance disorders. In this paper, a robotic system for rehabilitation training of patients with balance disorders is invented. The robot body is a 9 degree of freedom (DOF) redundant series-parallel hybrid motion platform. Two sets of motion platforms with symmetrical mirror images are used together to simulate different motion modes of the human body and drive the human body to move. Each set of motion platforms is composed of a 6-DOF vestibular parallel device and a 3-DOF proprioception parallel device. It has the advantages of DOF decoupling and fast response, proposing a new structural form for the design of proprioceptive and vestibular simulation platforms. The robot's functional level can be divided into a vestibular sense module and a proprioception module according to the structure. The two modules can work independently to achieve different functions or work together to achieve complex motion and multisensory fusion. This robot is a redundant mechanism device with 9 DOFs. Through a reasonable distribution of DOF and motion, the robot's working space can be increased, and the robot's flexibility and motion performance can be improved. In this paper, a trajectory tracking control

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Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

Cited by 8 publications

References 25 publications

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

Design of a convenient upper limb exoskeleton robot based on spring energy storage

Research on a New Rehabilitation Robot for Balance Disorders

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