Development of a Cable-Driven Parallel Robots for Functional Rehabilitation

Ghrairi, Kaiss; Chaker, Abdelbadiâ; Salah, S.; Bennour, Sami

doi:10.1007/978-3-031-14615-2_62

Cited by 2 publications

(2 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compared with rigid parallel robots, a cable-driven parallel robot (CDPR) is characterized by its light weight, large bearing capacity, fast speed, and rapid reconfiguration. Because of these advantages, many scholars have recognized the importance of CDPRs and have applied them to rehabilitation training robots (Hamida et al, 2021;Ghrairi et al, 2023;Chen et al, 2019;Duan et al, 2015), radio telescopes (Yao et al, 2010;Duan et al, 2011), force interactive robots (i.e., haptic interactive robots, HIRs) (Fortin-Côté et al, 2014;Meziane et al, 2018), camera robots (Pannequin et al, 2020), handling robots (Gosselin, 2014;Lu et al, 2017), and three-dimensional (3D) printing mechanisms (Amare et al, 2019;Qian et al, 2020;Zi et al, 2019). The application of the above CDPR adopts the method of winding the drum with the cable.…”

Section: Introductionmentioning

confidence: 99%

Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Song

Xiao

et al. 2023

Mech. Sci.

View full text Add to dashboard Cite

Abstract. This study proposes a haptic interactive robot (HIR) configuration and a control strategy based on a cable-driven parallel mechanism. The ball screw drives the cable to improve the motion control accuracy. The robot system control strategy improves the accuracy and stability of haptic interaction. Through configuration optimization design and analysis, eight cables are used to ensure that the robot end effector exerts force and enables motion. Moreover, a forward and inverse kinematics model of the robot is developed. According to the configuration of the HIR, an improved cable tension distribution algorithm can facilely determine the cable tension. Hence, each cable is consistently in a tight state, and the change in tension is not sudden. Drive unit and robot system control strategies are proposed to render the haptic interaction accurate and stable. A simulation experiment of a complex space motion track is implemented through the robot end effector, thus verifying the accuracy of the established forward and inverse kinematics model. The accuracy of the tension distribution algorithm, control strategy, and robot stability are verified through simulation experiments, considering different forces and motion tracks of robot end effectors.

show abstract

Section: Introductionmentioning

confidence: 99%

Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Song

Xiao

et al. 2023

Mech. Sci.

View full text Add to dashboard Cite

show abstract

“…Because the cable-driven parallel mechanism offers distinct advantages, including minimal transmission vibration (Zou et al, 2022), low motion inertia (Chen et al, 2019;Song et al, 2023), a high load / mass ratio (Niu et al, 2017), and a large working space (Wang et al, 2021;Zou et al, 2019), it is not easy to cause reinjury to the affected limb during the training process. Therefore, it is very suitable for the rehabilitation of patients with limb movement disorders (Ghrairi et al, 2023). The BWSGTR is a new type of rehabilitation robot that organically combines a cable-driven parallel mechanism and a rehabilitation training robot (Barbosa et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Motion planning and control strategy of a cable-driven body weight support gait training robot

Qin,

Wang,

et al. 2023

Mech. Sci.

View full text Add to dashboard Cite

Abstract. In this paper, a cable-driven body weight support gait training robot (C-BWSGTR) that provides patients with partial body weight support as well as a kind of stable gait training driving force was designed; this device enabled those patients to walk again. Firstly, the overall configuration of the C-BWSGTR was determined, and the structural composition and working principle of the robot were established. Secondly, the vector algebra method was applied to carry out the kinematic analysis and establish the mathematical model of the C-BWSGTR. The displacement of each cable during the patient gait training was also calculated. Thirdly, the motion planning of the C-BWSGTR was carried out in stages, using the time–phase distribution relationship based on an S-shaped speed curve. Meanwhile, the displacement, speed, and acceleration of each cable during the patient gait training were calculated and corresponding change curves were generated. Finally, a position servo composite control strategy for the C-BWSGTR was designed by analyzing the robot's dynamic characteristics of the forward channel transfer function. The simulation analysis and prototype experiment in this paper verified that the designed composite position servo control strategy can meet the requirements of the system with respect to stability and a fast response of the system to the loading command.

show abstract

Development of a Cable-Driven Parallel Robots for Functional Rehabilitation

Cited by 2 publications

References 6 publications

Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Modeling and control strategy of a haptic interactive robot based on a cable-driven parallel mechanism

Motion planning and control strategy of a cable-driven body weight support gait training robot

Contact Info

Product

Resources

About