Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle

Kumar, Shivesh; Bongardt, Bertold; Simnofske, Marc; Kirchner, Frank

doi:10.1007/s10846-018-0792-x

Cited by 27 publications

(13 citation statements)

References 33 publications

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“…Hip and ankle joints are designed as 3 DOF orientational joints in the exoskeleton. Here, a novel almost spherical parallel mechanism (ASPM), also known as ACTIVE ANKLE, has been invented [37,38,43,44]. In mechanism theory, it is typical to identify parallel mechanisms using their type (for details, see [45]).…”

Section: Hip and Ankle Jointsmentioning

confidence: 99%

“…A comprehensive kinematic analysis of each parallel submechanism module of the system such as ACTIVE ANKLE [38,52], STEWART PLATFORM etc is performed and the associated loop closure functions are derived analytically. Based on them, the loop closure function of the overall exoskeleton system is composed.…”

Section: Example Of Loop Closure Function Of Recupera Single Armmentioning

confidence: 99%

“…Due to its bilateral design, the system can be used with both left and right sided stroke patients and can provide extended training possibilities e.g., dual arm tasks, and mirror therapy. In the previous work from the authors, the first CAD design ideas of this system were introduced in [36] and detailed analysis of various subsystem modules used in the design were presented in [37][38][39][40]. This paper focuses on the mechatronic design aspects and the control architecture of the commissioned system and presents the experimental results on its rehabilitative aspects.…”

Section: Introductionmentioning

confidence: 99%

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Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

et al. 2019

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Robot-assisted therapy has become increasingly popular and useful in post-stroke neurorehabilitation. This paper presents an overview of the design and control of the dual-arm Recupera exoskeleton to provide intense therapist-guided as well as self training for sensorimotor rehabilitation of the upper body. The exoskeleton features a lightweight design, high level of modularity, decentralized computing, and various levels of safety implementation. Due to its modularity, the system can be used as a wheel-chair mounted system or as a full-body system. Both systems enable a wide range of therapies while efficiently grounding the weight of the system and without compromising the patient’s mobility. Furthermore, two rehabilitation therapies implemented on the exoskeleton system, namely teach & replay therapy and mirror therapy, are presented along with experimental results.

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Section: Hip and Ankle Jointsmentioning

confidence: 99%

Section: Example Of Loop Closure Function Of Recupera Single Armmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

et al. 2019

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“…Its end effector can rotate freely around the point. The SPM has important application value and has been widely used, such as the azimuth tracking system [1] , the bionic robot [2] , surgical robot [3] , and the medical device [4] .The research about SPM mostly focuses on 2DOF SPM [5] and 3DOF SPM [6] . The theoretical research and practical application of 3DOF SPM are quite mature.…”

Section: Introductionmentioning

confidence: 99%

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

Chen¹,

Chen²,

Gao³

et al. 2021

Preprint

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In this paper, a novel two-degree-of-freedom (2DOF) spherical parallel mechanism(SPM) with symmetrical structure is proposed and analyzed. First, the models of forward kinematics and inverse kinematics are established based on D-H parameters, and the Jacobian matrix of the mechanism is obtained and verified. Second, the workspace of the mechanism is obtained according to inverse kinematics and link interference conditions. Next, rotational characteristics analysis shows that the end effector can achieve continuous rotation about an axis located in the mid-plane and passing through the rotation center of the mechanism. Moreover, the rotational characteristics of the mechanism are proved and motion planning is carried out. A numerical example is given to verify the kinematics analysis and motion planning. Finally, some variant mechanisms can be synthesized. This work lays the foundation for the motion control and practical application of this 2DOF SPM.

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“…Parallel robots have been extensively studied for decades and have been widely applied to various fields due to the following advantages: high rigidity, accuracy, and load-bearing capacity [1]- [5]. The kinematics problem is fundamental for parallel robots because it provides the mapping between Cartesian space and joint space.…”

Section: Introductionmentioning

confidence: 99%

An Efficient Numerical Method for Forward Kinematics of Parallel Robots

Zhu

Zhang

2019

IEEE Access

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Solving the forward kinematics of parallel robots efficiently is important for real-time applications. However, it remains a difficult problem due to its high nonlinearity. This paper combines artificial neural networks and the Global Newton-Raphson with Monotonic Descent (GNRMD) algorithm to decrease the training sets of neural networks while avoiding divergence problem. Furthermore, simplified Newton iteration is introduced to reduce the duration of solution time. The proposed method is demonstrated taking a Stewart platform as an example and the nonlinear equations are established with the geometrical method. Based on the continuous characteristic of real-time applications, the result of the previous solution cycle is used as the initial value of the current solution cycle. Moreover, a threshold adjusting the effective scope of GNRMD algorithm and simplified Newton iteration is set to balance the efficiency and number of iteration. The performance of the algorithm is verified in the environment of Microsoft Visual Studio 2013 based on the continuous feedback of the Stewart platform. Besides, it is compared with GNRMD algorithm and a higher-order numerical method. The results indicate that the proposed algorithm can improve the efficiency of solving the forward kinematics problem. INDEX TERMS Parallel robots, forward kinematics, numerical method, real-time application.

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Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle

Cited by 27 publications

References 33 publications

Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

Motion Characteristics Analysis of a Novel Spherical Two-degree-of-freedom Parallel Mechanism

An Efficient Numerical Method for Forward Kinematics of Parallel Robots

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