Path planning of the hybrid parallel robot for ankle rehabilitation

Rakhodaei, Hamid; Saadat, Mozafar; Rastegarpanah, Alireza; Abdullah, Che Zulkhairi

doi:10.1017/s0263574714001210

Cited by 23 publications

(14 citation statements)

References 22 publications

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“…A 9-DOF hybrid parallel robot has been proposed for ankle rehabilitation at the University of Birmingham. 43 The parallel robot consists of two serially connected moving platforms and one stationary platform. The prototype is still in the development phase, and only CAD design and its optimization have been reported in the literature.…”

Section: Parallel Ankle Robotsmentioning

confidence: 99%

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Hussain

Jamwal

Ghayesh

2017

Proc Inst Mech Eng H

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There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

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Section: Parallel Ankle Robotsmentioning

confidence: 99%

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Hussain

Jamwal

Ghayesh

2017

Proc Inst Mech Eng H

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“…19 A hitting motor is used to control the racket to complete the hitting action. 20 This mechanical structure expands the robot's range of motion. The badminton racket and shuttlecock used by this robot are consistent with daily use, and the binocular vision technology is used to realize the identification and trajectory tracking of badminton.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Simulation of Badminton Robot Based on Fractal Brown Motion

2020

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This paper focuses on the design of badminton robots, and designs high-precision binocular stereo vision synchronous acquisition system hardware and multithreaded acquisition programs to ensure the left and right camera exposure synchronization and timely reading of data. Aiming at specific weak moving targets, a shape-based Brown motion model based on dynamic threshold adjustment based on singular value decomposition is proposed, and a discriminative threshold is set according to the similarity between the background and the foreground to improve detection accuracy. The three-dimensional trajectory points are extended by Kalman filter and the kinematics equation of badminton is established. The parameters of the kinematics equation of badminton are solved by the method of least squares. Based on the fractal Brownian motion algorithm, a real-time robot pose estimation algorithm is proposed to realize the real-time accurate pose estimation of the robot. A PID control model for the badminton robot executive mechanism is established between the omnidirectional wheel speed and the robot’s translation and rotation movements to achieve the precise movement of the badminton robot. All the algorithms can meet the system’s requirements for real-time performance, realize the badminton robot’s simple hit to the ball, and prospect the future research direction.

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“…Therapeutic exercises can vary from range of motion, active assistive isotonic, isometric, isokinetic, and manual exercises [ 24 – 26 ]. The path planning of a hybrid parallel robot for ankle rehabilitation was investigated based on inverse kinematics during normal walking and stepping [ 27 – 29 ]. The 6-DoF parallel robot is stiffer than a tripod as it employs extra three actuators [ 30 ]; hence it requires actuators with lower load capacity.…”

Section: Introductionmentioning

confidence: 99%

Parallel Robot for Lower Limb Rehabilitation Exercises

Rastegarpanah

Saadat

Borboni

2016

Applied Bionics and Biomechanics

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The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises.

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Path planning of the hybrid parallel robot for ankle rehabilitation

Cited by 23 publications

References 22 publications

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review

Trajectory Simulation of Badminton Robot Based on Fractal Brown Motion

Parallel Robot for Lower Limb Rehabilitation Exercises

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