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.2016 Dec 14;16(12):2121.
doi: 10.3390/s16122121.

Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot

Affiliations

Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot

Bin Zi et al. Sensors (Basel)..

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.

Keywords: hybrid-driven; inverse kinematics and statics; optimization; waist rehabilitation robot.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
The structure of the HWRR.
Figure 2
Figure 2
Assignment of the sensors.
Figure 3
Figure 3
Control and measurement diagram of the HWRR.
Figure 4
Figure 4
Coordinates and kinematic analysis of the waist twist device.
Figure 5
Figure 5
Force analysis of the waist.
Figure 6
Figure 6
Coordinates and kinematic analysis of the lower limb traction device.
Figure 7
Figure 7
The value change of the objective function.
Figure 8
Figure 8
Condition number atγ=0°
Figure 9
Figure 9
The track of the standing platform.
Figure 10
Figure 10
The change of the cables’ lengths.
See this image and copyright information in PMC

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References

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