Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator

Mohan, Santhakumar; Sunilkumar, P N; Rybak, Larisa; Malyshev, Dmitry; Khalapyan, Sergey; Nozdracheva, Anna

doi:10.1007/978-3-030-48989-2_37

Cited by 7 publications

(3 citation statements)

References 6 publications

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“…A promising trend in the rehabilitation of the upper and lower extremities is the use of cable-driven parallel robots [2][3][4]. A joint publication of foreign and Russian scientists presents a conceptual design of a new seated robot for the rehabilitation of the lower extremities, as well as simplified motion control for a passive range of movement therapy [5,6]. The proposed design was demonstrated and verified using computer numerical simulation.…”

Section: Introductionmentioning

confidence: 99%

Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation

Perevuznik

Cherednikov

Malyshev

2022

J. Phys.: Conf. Ser.

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The paper discusses an optimized model of rehabilitation systems based on a cable-actuated robot designed for rehabilitation of patients with impaired motor function of upper and lower limbs. Tensile strength and cable lengths depending on joint angles are calculated to determine optimal positions of coils, with due account of the effects elasticity and gravity forces produce during rehabilitation. Based on the calculations, the positions of cable-driven actuators are determined such that the cables do not touch the patient’s body and the optimal forces of the actuators are ensured.

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Section: Introductionmentioning

confidence: 99%

Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation

Perevuznik

Cherednikov

Malyshev

2022

J. Phys.: Conf. Ser.

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“…Various orthopaedic rehabilitation systems and devices are proposed to treat patients with musculoskeletal diseases [3][4][5]. Among other studies, the work [6] proposes a system for the RS-based rehabilitation of lower limbs (Fig. 1) using active 3-PRRR mechanism [7] and a passive orthosis.…”

Section: Introductionmentioning

confidence: 99%

Robotic control system for lower limb rehabilitation with force feedback

Khalapyan¹,

Rybak

Rashoyan

et al. 2022

J. Phys.: Conf. Ser.

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The paper proposes the structure of the robotic system (RS) control system with and without the patient’s force feedback, describes the conditions for using each of them. The method for improving data reliability on applied forces using strain gauge readings in the absence of patient activity was developed. The method of motivating a patient to perform “correct” movements thus “assisting” the mechanism, which consists in changing the speed of movement to create an impression that the mechanism moves due to patient’s efforts was developed. Mathematical RS model was constructed, graphs reflecting the accuracy of the specified trajectory were obtained.

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“…This work deals with the development of a fully isotropic 3-PRRR CPM for a lower limb rehabilitation system proposed in our previous work. 26 Throughout the literature, various configurations of the 3-PRRR CPM were studied. 27,28 However, as observed in the following sections of this paper, the influence of end-effector shapes and assembly conditions of the PRRR limbs on the shape of the workspace has not been analysed in detail in literature.…”

Section: Introductionmentioning

confidence: 99%

Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

John

Mohan

Rybak

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper focusses on the development of a Cartesian parallel manipulator (CPM) having multiple limb assembly configurations. An optimal configuration of the 3-PRRR CPM is identified after analysing the interference-free workspace of various limb assembly conditions, where each leg comprises an active prismatic joint followed by three revolute joints. The validation of the link interference detection algorithm is carried out using a virtual prototype. The Euler–Lagrange dynamic modelling of the CPM is validated using one of the well-known multi-body simulation packages namely, ADAMS. The paper proposes a detailed design and performance analyses of a motion controller for the proposed manipulator, based on a finite-time sliding mode scheme. A Graphical User Interface (GUI) is also developed using the MATLAB App Designer, which ensures easier and intuitive synthesis of the CPM. The development of an in-house functional prototype is also presented in this work.

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Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator

Cited by 7 publications

References 6 publications

Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation

Simulating cable tension in robotic systems for various conditions of upper and lower extremity rehabilitation

Robotic control system for lower limb rehabilitation with force feedback

Numerical investigations, development and control of a cartesian (3-PRRR) parallel manipulator

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