Variable stiffness control for SEAs in rehabilitation training

Li, Siqi; Li, Jian; Tian, Guihua; Shang, Hongcai

doi:10.1080/01691864.2019.1602894

Cited by 7 publications

(3 citation statements)

References 30 publications

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“…Li et al [ 30 ] proposed a real-time parallel variable stiffness control method by analyzing the SEA interface, discussing the limiting factors of impedance frequency, and combining both safety and high-performance SEA with a cascaded impedance controller with a stiffness adjustment regulator, thus achieving real-time stiffness adjustment of the stiffness and maintaining a certain level of flexibility stability. In addition, the cable drive positively impacts the achievement of flexibility [ 82 ].…”

Section: Resultsmentioning

confidence: 99%

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Song

Liu

Gao

et al. 2023

Computational Intelligence and Neuroscience

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The application of human factors engineering for rehabilitation robots is based on a “human-centered” design philosophy that strives to provide safe and efficient human-robot interaction training for patients rather than depending on rehabilitation therapists. Human factors engineering for rehabilitation robots is undergoing preliminary investigation. However, the depth and breadth of current research do not provide a complete human factor engineering solution for developing rehabilitation robots. This study aims to provide a systematic review of research at the intersection of rehabilitation robotics and ergonomics to understand the progress and state-of-the-art research on critical human factors, issues, and corresponding solutions for rehabilitation robots. A total of 496 relevant studies were obtained from six scientific database searches, reference searches, and citation-tracking strategies. After applying the selection criteria and reading the full text of each study, 21 studies were selected for review and classified into four categories based on their human factor objectives: implementation of high safety, implementation of lightweight and high comfort, implementation of high human-robot interaction, and performance evaluation index and system studies. Based on the results of the studies, recommendations for future research are presented and discussed.

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Section: Resultsmentioning

confidence: 99%

Human Factor Engineering Research for Rehabilitation Robots: A Systematic Review

Song

Liu

Gao

et al. 2023

Computational Intelligence and Neuroscience

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“…Patients in different rehabilitation stages need different rehabilitation training modes, mainly divided into the following three modes, i.e., the passive training mode, the active training mode, and the impedance training mode [22,23]. The three rehabilitation training modes have different requirements for the stiffness of the rehabilitation robot [24]. It is of great significance to study the stiffness of the PCUR.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Analysis of Parallel Cable-Driven Upper Limb Rehabilitation Robot

Zou

Zhang

et al. 2022

Micromachines

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This paper studies the stiffness of the parallel cable-driven upper limb rehabilitation robot (PCUR). Firstly, it was derived that the static stiffness expression of the PCUR was composed of platform pose stiffness KT and cable pose stiffness KS. It indicated that the static stiffness of the PCUR was related to the cable tension, the arrangement of the cable, and the cable stiffness. Secondly, a simulation model in MATLAB/Simscape Multibody was built. Cable tension was applied to make the moving platform in a static equilibrium state. The stiffness of the PCUR and the external force on the moving platform were changed, and the motion characteristics of the moving platform were obtained. Finally, the position changes of the moving platform under different external forces were analyzed, and the motion laws of the moving platform under different stiffnesses were summarized.

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“…There are two most popular flexible actuators called series elastic actuator (SEA) and variable stiffness actuator (VSA). Although traditional SEA has the advantages of simplicity, flexibility, easy control and large energy storage capacity [2], [3], the stiffness is difficult to adjust once the design is completed [4], which limits its ability to handle uncertain environments. Unlike SEA, VSA often uses two separate modules with elastic elements to achieve stiffness adjustment and position control [1].…”

Section: Introductionmentioning

confidence: 99%