Volume 20, Issue 5 (May 2020)                   Modares Mechanical Engineering 2020, 20(5): 1295-1308 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Morovat M, Safarabadi Farahani M, Sadigh Damghani M, Mashayekh A. Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane. Modares Mechanical Engineering 2020; 20 (5) :1295-1308
URL: http://mme.modares.ac.ir/article-15-32447-en.html
1- Mechanical Engineering Faculty, College of Engineering, University of Tehran, Tehran, Iran
2- Mechanical Engineering Faculty, College of Engineering, University of Tehran, Tehran, Iran , msafarabadi@ut.ac.ir
Abstract:   (2038 Views)
Diseases such as heart and brain attacks, which sometimes lead to movement disorders in people, has raised with an increasing community age. Nowadays, medical scientists replaced rehabilitation robots instead of traditional therapeutic methods. Design and implementation of a low-cost and home-like usable device for a patient was the primary goal of this research. In this study, a robot which consisted of cable and springs for movement in the transverse plane of the human body was introduced. For this purpose, stiffness and free length of springs were achieved by an optimization process, firstly. Afterward, static and dynamic workspace calculated to identify robot mechanical characteristic. At the end, controllability of the system in different paths in two conditions of presence and absence of the patient's hand was investigated and verified by the results obtained by the built device. Dynamic and static workspace indicates that a patient can do exercises with the help of the designed robot. Also, the control results and the obtained results from the implemented device test shows the stability of the control system and its ability to eliminate possible error occurring in the path.

Full-Text [PDF 1873 kb]   (1923 Downloads)    
Article Type: Original Research | Subject: Mechatronics
Received: 2019/05/4 | Accepted: 2019/10/2 | Published: 2020/05/9

References
1. Kwakkel G, Kollen BJ, Krebs HI. Effects of robot-assisted therapy on upper limb recovery after stroke: A systematic review. Neurorehabil Neural Repair. 2008;22(2):111-121. [Link] [DOI:10.1177/1545968307305457]
2. Huang VS, Krakauer JW. Robotic neurorehabilitation: A computational motor learning perspective. Journal of NeuroEngineering and Rehabilitation. 2009;6(1):1-13. [Link] [DOI:10.1186/1743-0003-6-5]
3. Sheng B, Zhang Y, Meng W, Deng C, Xie S. Bilateral robots for upper-limb stroke rehabilitation: State of the art and future prospects. Medical Enginreeing Physics. 2016;38(7):587-606. [Link] [DOI:10.1016/j.medengphy.2016.04.004]
4. Lo HS, Xie SQ. Exoskeleton robots for upper-limb rehabilitation: State of the art and future prospects. Medical Enginreeing Physics. 2012;34(3):261-268. [Link] [DOI:10.1016/j.medengphy.2011.10.004]
5. Pratt GA, Williamson MM. Series Elastic Actuators. RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, 5-9 Aug. 1995, Pittsburgh, PA, USA. Piscataway: IEEE; 2002. [Link]
6. Lum SP, Reinkensmeyer DJ, Lehman SL. Robotic assist devices for bimanual physical therapy: Preliminary experiments. IEEE Transactions on Rehabilitation Engineering. 1993;1(3):185-191. [Link] [DOI:10.1109/86.279267]
7. Kahn LE, Lum PS, Rymer WZ, Reinkensmeyer DJ. Robot-assisted movement training for the stroke-impaired arm: Does it matter what the robot does?, Journal of Rehabilitation Research Development. 2006;43(5):619-630. [Link] [DOI:10.1682/JRRD.2005.03.0056]
8. Bruckmann T, Pott A, editors. Cable-driven parallel robots. Berlin: Springer Science & Business Media; 2012. [Link] [DOI:10.1007/978-3-642-31988-4]
9. Tobias N, Mihelj M, Riener R. ARMin: A robot for patient-cooperative arm therapy. Medical & Biological Engineering & Computing. 2007;45(9):887-900. [Link] [DOI:10.1007/s11517-007-0226-6]
10. Mihelj M Nef T, Riener R. ARMin II - 7 DoF rehabilitation robot: Mechanics and kinematics Proceedings 2007 IEEE International Conference on Robotics and Automation. Roma, Italy: IEEE; 2007. [Link] [DOI:10.1109/ROBOT.2007.364112]
11. Staubli P, Nef T, Klamroth-Marganska V, Riener R. Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients: Four single-cases. Journal of NeuroEngineering and Rehabilitation volume. 2009;6(1):46. [Link] [DOI:10.1186/1743-0003-6-46]
12. Hiller M, Fang S, Mielczarek S, Verhoeven R, Franitza D. Design, analysis and realization of tendon-based parallel manipulators. Mechanism and Machine Theory. 2005;40(4):429-445. [Link] [DOI:10.1016/j.mechmachtheory.2004.08.002]
13. Rosati G, Gallina P, Masiero S. Design, implementation and clinical tests of a wire-based robot for neurorehabilitation. IEEE Transactions on Rehabilitation Engineering. 2007;15(4):560-9. [Link] [DOI:10.1109/TNSRE.2007.908560]
14. Agrawal SK, Dubey VN, Gangloff JJ, Brackbill E, Mao Y, Sangwan V. Design and optimization of a cable driven upper arm exoskeleton. Journal of Medical Devices. 2009;3(3):031004. [Link] [DOI:10.1115/1.3191724]
15. Rosati G, Zanotto D, Agrawal SK. On the design of adaptive cable-driven systems. Journal of Mechanisms and Robotics. 2011;3(2):021004. [Link] [DOI:10.1115/1.4003580]
16. Sulzer JS, Peshkin MA, Patton JL. Design of a mobile, inexpensive device for upper extremity rehabilitation at home. IEEE 10th International Conference on Rehabilitation Robotics. Noordwijk, Netherlands: IEEE; 2007. [Link] [DOI:10.1109/ICORR.2007.4428535]
17. Miripour Fard B, Padargani T. Controllable workspace generation for a cable-driven rehabilitation robot using neural network and based on patient's anthropometric parameters. Modares Mechanical Engineering. 2015;15(3):137-145. [Persian] [Link]
18. Taghavi A, Behzadipour S, Khalilinasab N, Zohoor H. Workspace improvement of two-link cable-driven mechanisms with spring cable. In: Bruckmann T, Pott A, editos. Cable-Driven Parallel Robots. Heidelberg: Springer; 2013. [Link] [DOI:10.1007/978-3-642-31988-4_13]
19. Bamdad M, Zarshenas H. Robotic rehabilitation with the elbow stiffness adjustability. Modares Mechanical Engineering. 2015;14(11):151-158. [Persian] [Link]

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.