Design study of a cable-based gait training machine

Lamine, Houssein; Laribi, Med Amine; Bennour, Sami; Romdhane, Lotfi; Zeghloul, S.

doi:10.1016/s1672-6529(16)60394-3

Cited by 33 publications

(10 citation statements)

References 33 publications

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“…Steps of post-processing are conducted using Matlab, such steps include: joint centers identification (using geometric sphere fitting method for the hip and a mean position between medial and lateral markers for the other joints), time synchronization and resampling, computing of joint Cartesian trajectories and angular kinematics, and lastly, data smoothing employing Butterworth filter. More details can be found in (Lamine et al 2017).…”

Section: Methodsmentioning

confidence: 99%

Evaluation of Calibrated Kinect Gait Kinematics Using a Vicon Motion Capture System

Lamine

Bennour

Laribi

et al. 2017

Computer Methods in Biomechanics and Biomedical Engineering

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Section: Methodsmentioning

confidence: 99%

Evaluation of Calibrated Kinect Gait Kinematics Using a Vicon Motion Capture System

Lamine

Bennour

Laribi

et al. 2017

Computer Methods in Biomechanics and Biomedical Engineering

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“…The robot's workspace is determined by the method shown in Figure 3, where restriction given by Equations (3)- (5), and by inequality (6) are taken into account.…”

Section: Casementioning

confidence: 99%

“…Merlet and Daney [2] proposed a fully autonomous portable mechanism for rescue operations. Various rehabilitation robots [3][4][5][6] rely on the correct orientation of the robot. Other examples can be found in space exploration, which is an environment where the manual setup of cable robots by human operators is typically not possible [7,8].…”

Section: Introductionmentioning

confidence: 99%

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

et al. 2019

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Cable-Driven Parallel Robots (CDPR) operate over a large positional workspace and a relatively large orientation workspace. In the present work, the expansion of the orientation Wrench Feasible Workspace (WFW) in a planar four-cable passive reconfigurable parallel robot with three degrees of freedom was determined. To this end, we proposed a circular-geometry effector mechanism, whose structure allows automatic mobility of the two anchor points of the cables supporting the End Effector (EE). The WFW of the proposed circular structure robot was compared with that of a traditional robot with a rectangular geometry and fixed anchor points. Considering the feasible geometric and tension forces on the cables, the generated workspace volume of the robot was demonstrated in an analysis-by-intervals. The results were validated by simulating the orientation movements of the robot in ADAMS software and a real experimental test was developed for a hypothetical case. The proposed design significantly expanded the orientation workspace of the robot. The remaining limitation is the segment of the travel space in which the mobile connection points can slide. Overcoming this limitation would enable the maximum rotation of the EE.

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“…The dynamic model was simulated employing MATLAB Simmechanics software. 13 It is worth mentioning that for gait training, two scenarios have to be considered: off-ground and on-ground walking. The first happens at the beginning of a training session when some cycles of off-ground walking are achieved for familiarization; the sole of the foot is 0.1 m above the treadmill when the lower limb lies vertically.…”

Section: Inverse Dynamic Simulationmentioning

confidence: 99%

“…The present work extends the previous one by presenting a practical application of the algorithm implemented in ref. [6], where the cable-EE collision is taken into account while designing the CDLT machine, a device used in gait rehabilitation, 13 for a required feasible workspace. This latter includes the required workspace and external loads, which were evaluated with respect to IA requirement.…”

Section: Introductionmentioning

confidence: 99%

Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

et al. 2019

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Summary This paper deals with a continuous design task of a planar cable robot used in a gait training machine called the cable-driven legs trainer. The design of cable robots requires satisfying two constraints, that is, tensions in the cables must remain non-negative, and cable interferences should be avoided. The carried design approach is based on interval analysis, which is one of the most efficient methods to obtain certified results. The constraints of non-negative tensions and cable to end-effector interference are solved using interval analysis tools. By means of a dynamic simulation, the reached workspace and the produced wrenches of the cable robot are evaluated as a set of interval vectors. An optimization algorithm is then designed to optimize the cable robot structure for the gait training machine. The robot is designed to produce non-negative tensions in the cables and to avoid collision at all times within the desired workspace and under the required external loads.

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Design study of a cable-based gait training machine

Cited by 33 publications

References 33 publications

Evaluation of Calibrated Kinect Gait Kinematics Using a Vicon Motion Capture System

Evaluation of Calibrated Kinect Gait Kinematics Using a Vicon Motion Capture System

Rotational Workspace Expansion of a Planar CDPR with a Circular End-Effector Mechanism Allowing Passive Reconfiguration

Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine

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