Abstract
In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators’ driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated.
Highlights
Nowadays, more and more people suffer the waist ache which is caused by human diseases, old age, or sedentary lifestyle
A parallel ankle rehabilitation robot driven by four pneumatic artificial muscles (PAMs) was designed by Jamwal et al [10], and since the application of PAM is limited by the contraction length and the unidirectional nature of force, the robot was optimized using a modified genetic algorithm [11]
The paper is organized as follows: Section 2 introduces the novel concept and details of the hybrid-driven waist rehabilitation robot (HWRR); Section 3 studies the inverse kinematic equations and static analysis of the waist twist device and the lower limb traction device; Section 4 shows the optimization of the HWRR; and, conclusions and the proposed future works are discussed
Summary
More and more people suffer the waist ache which is caused by human diseases, old age, or sedentary lifestyle. A parallel ankle rehabilitation robot driven by four PAMs was designed by Jamwal et al [10], and since the application of PAM is limited by the contraction length and the unidirectional nature of force, the robot was optimized using a modified genetic algorithm [11] For these reasons, and referring to [12,13], the human body structure, the waist movement characteristics, and the actuators’ drive characteristics are the main considerable factors in the process of mechanical structure design of the waist rehabilitation robot. The paper is organized as follows: Section 2 introduces the novel concept and details of the HWRR; Section 3 studies the inverse kinematic equations and static analysis of the waist twist device and the lower limb traction device; Section 4 shows the optimization of the HWRR; and, conclusions and the proposed future works are discussed
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