Hostname: page-component-76fb5796d-5g6vh Total loading time: 0 Render date: 2024-04-26T14:22:41.774Z Has data issue: false hasContentIssue false
  • English
  • Français

Research on mechanical optimization methods of cable-driven lower limb rehabilitation robot

Published online by Cambridge University Press:  07 May 2021

Yan-lin Wang Open the ORCID record for Yan-lin Wang [Opens in a new window] ,
Ke-yi Wang ,
Yu-jia Chai ,
Zong-jun Mo  and
Kui-cheng Wang
Yan-lin Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Ke-yi Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Yu-jia Chai
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Zong-jun Mo
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
Kui-cheng Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
*
*Corresponding author. Email: wangkeyi@hrbeu.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

In order to improve the working performance of the lower limb rehabilitation robot and the safety of the trained object, the mechanical characteristics of a cable-driven lower limb rehabilitation robot (CDLR) are studied. The dynamic model of the designed CDLR was established. Four kinds of cable tension optimization algorithms were proposed to obtain a good rehabilitation training effect, and the quality of the feasible workspace of the CDLR was analyzed. Finally, a real-time evaluation index of the cable tension optimization algorithms was given to measure the calculation speed of the optimization algorithms. The numerical research results were provided to confirm the characteristics of the four kinds of the optimization algorithms. The research results provide a basis for the follow-up research on the safety and compliance control strategy of the CDLR system.

Keywords

Cable-driven robotRehabilitation robotMechanical characteristicsOptimization algorithmsQuality of feasible workspace
Type
Article
Information
Robotica , Volume 40 , Issue 1 , January 2022 , pp. 154 - 169
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

United Nations, “2019 Revision of World Population Prospects,” New York, USA, 2019.Google Scholar
Wang, Y. L., Wang, K. Y., Zhao, W. Y., Wang, W. L., Han, Z. and Zhang, Z. X., “Effects of single crouch walking gaits on fatigue damages of lower extremity main muscles,” J Mech. Med. Biol. 19(6), 1940046 (2019).CrossRefGoogle Scholar
De-La-torre, R., Oña, E. D., Balaguer, C. and Jardón, A., “Robot-aided systems for improving the assessment of upper limb spasticity: A systematic review,” Sensors 20(18), 5251 (2020).CrossRefGoogle ScholarPubMed
Basteris, A., Nijenhuis, S. M., Stienen, A. H. A., Buurke, J. H., Prange, G. B. and Amirabdollahian, F., “Training modalities in robot-mediated upper limb rehabilitation in stroke: A framework for classification based on a systematic review,” J. NeuroEng. Rehabil. 11, 111–126 (2014).CrossRefGoogle ScholarPubMed
Wang, Y. L., Wang, K.Y. and Zhang, Z. X., “Design, comprehensive evaluation, and experimental study of a cable-driven parallel robot for lower limb rehabilitation,” J. Braz. Soc. Mech. Sci. Eng. 42(7), 371, 1–21 (2020).CrossRefGoogle Scholar
Wang, Y. L., Wang, K. Y., Zhang, Z. X., Han, Z. and Zhang, Z. X., “Appraisement and analysis of dynamical stability of under-constrained cable-driven lower limb rehabilitation training robot,” Robotica, 1–14 (2020), published online. doi: 10.1017/S0263574720000879.CrossRefGoogle Scholar
Sánchez, E., “Lower-limb robotic rehabilitation: Literature review and challenges,” J. Robot. 11, 759764, 1–11 (2011).Google Scholar
Cui, X., Chen, W. H., Jin, X. and Sunil, K. A., “Design of a 7-DOF cable-driven arm exoskeleton (CAREX-7) and a controller for dexterous motion training or assistance” IEEE/ASME Trans. Mech. 22(1), 161–172 (2017).CrossRefGoogle Scholar
Aliman, N., Ramli, R. and Haris, S. M., “Design and development of lower limb exoskeleton: A survey” Rob. Auton. Syst. 95, 102–116 (2017).CrossRefGoogle Scholar
Amiri, M. S., Ramli, R., Tarmizi, M. A. A., Tarmizi, A. and Narooei, D., “Simulation and control of a six degree of freedom lower limb exoskeleton” J. Kejuruteraan 32(2), 197–204 (2020).Google Scholar
Armannsdottir, A. L., Beckerle, P., Moreno, J. C., Asseldonk, E. H. F. V., Manrique-Sancho, M. T., Del-Ama, A. J., Veneman, J. F. and Briem, K., “Assessing the involvement of users during development of lower limb wearable robotic exoskeletons: A survey study” Hum. Factors 62(3), 351–364 (2020).CrossRefGoogle ScholarPubMed
Wu, Q. C., Wang, X. S. and Du, F. P., “Analytical inverse kinematic resolution of a redundant exoskeleton for upper-limb rehabilitation” Int. J. Hum. Rob. 13(3), 1550042 (2016).CrossRefGoogle Scholar
Wu, Q. C., Wang, X. S., Wu, H. T. and Chen, B., “Fuzzy sliding mode admittance control of the upper limb rehabilitation exoskeleton robot,” Robot 40(4), 457–465 (2018).Google Scholar
Qian, S., Zi, B., Shang, W.-W. and Xu, Q. S., “A review on cable-driven parallel robots” Chin. J. Mech. Eng. 31(4), 66–77 (2018).CrossRefGoogle Scholar
Zi, B., Yin, G. C., Li, Y. and Zhang, D., “Kinematic Performance Analysis of a Hybrid-Driven Waist Rehabilitation Robot,” 2nd International Conference on Mechatronics and Robotics Engineering (ICMRE), Nice, France (2016).CrossRefGoogle Scholar
Chen, Q., Zi, B., Sun, Z., Li, Y. and Xu, Q. S., “Design and development of a new cable-driven parallel robot for waist rehabilitation” IEEE-ASME Trans. Mech. 24(4), 1497–1507 (2019).CrossRefGoogle Scholar
Cafolla, D., Russo, M. and Carbone, G., “CUBE, a cable-driven device for limb rehabilitation” J. Bionic. Eng. 16(3), 492–502 (2019).CrossRefGoogle Scholar
Barbosa, A. M., Carvalho, J. C. M. and Gonçalves, R., “Cable-driven lower limb rehabilitation robot,” J. Braz. Soc. Mech. Sci. Eng. 40(5), 345, 1–11 (2018).CrossRefGoogle Scholar
Wang, Y. L., Wang, K. Y., Zhang, Z., Han, Z. and Wang, W. L., “Analysis of dynamical stability of rigid-flexible hybrid-driven lower limb rehabilitation robot,” J. Mech. Sci. Tech. 34(4), 1735–1748 (2020).CrossRefGoogle Scholar
Wang, K.-Y., Yin, P.-C., Yang, H.-P. and Tang, X. Q., “The man-machine motion planning of rigid-flexible hybrid lower limb rehabilitation robot,” Adv. Mech. Eng. 10(6), 1–11 (2018).Google Scholar
Wang, Y. L., Wang, K. Y., Wang, W. L., Yin, P. C. and Han, Z., “Appraise and analysis of dynamical stability of cable-driven lower limb rehabilitation training robot” J. Mech. Sci. Tech. 33(11), 5461–5472 (2019).CrossRefGoogle Scholar
Wang, Y., Wang, K., Wang, W., Han, Z. and Zhang, Z., “Appraisement and analysis of dynamical stability of under-constrained cable-driven lower-limb rehabilitation training robot” Robotica, 1–14 (2020). published online. doi: 10.1017/S0263574720000879.CrossRefGoogle Scholar
Wang, Y. L., Wang, K. Y., Wang, K. C. and Mo, Z. J., “Safety evaluation and experimental study of a new bionic muscle cable-driven lower limb rehabilitation robot” Sensors 20(24), 7020 (2020).CrossRefGoogle ScholarPubMed
Hamida, I. B., Laribi, M. A., Mlika, A., Romdhane, L., Zeghloul, S. and Carbone, G., “Multi-objective optimal design of a cable driven parallel robot for rehabilitation tasks,” Mech. Mach. Theory 156, 104141 (2021).CrossRefGoogle Scholar
Su, Y., Qiu, Y. Y. and Wei, H. L., “Dynamic modeling and tension optimal distribution of cable-driven parallel robots considering cable mass and inertia force effects,” Eng. Mech. 33(11), 231–239 + 248 (2016).Google Scholar
Tang, X. Q., Chai, X. M., Tang, L. W. and Shao, Z. F., “Accuracy synthesis of a multi-level hybrid positioning mechanism for the feed support system in FAST” Rob. Comput. Integr. Manuf. 30(5), 565–575 (2014).CrossRefGoogle Scholar
Zhang, F., Zhang, B., Zhou, F., Shang, W. W. and Cong, S., “Configuration selection and parameter optimization of redundantly actuated cable-driven parallel robots,” J. Mech. Eng. 56(1), 1–8 (2020).Google Scholar
Wang, Y. L., Wang, K. Y., Zhang, Z. X. and Mo, Z. J., “Control strategy and experimental research of a cable-driven lower limb rehabilitation robot,” Proc. Inst. Mech. Eng. Part C-J. Eng. Mech. Eng. Sci., 1–14 (2020), published online, doi: 10.1177/0954406220952510.CrossRefGoogle Scholar
Wang, Y. L., Wang, K. Y., Zhang, Z. X., Chen, L. L. and Mo, Z. J., “Mechanical characteristics analysis of a bionic muscle cable-driven lower limb rehabilitation robot,” J. Mech. Med. Biol. 20(10), 2040037 (2020).CrossRefGoogle Scholar
Boschetti, G. and Trevisani, A., “Cable robot performance evaluation by Wrench exertion capability,” Robotics 7(2), 15 (2018).CrossRefGoogle Scholar
Zhang, S., Cao, D. X., Min, H., Li, S. and Zhang, X. L., “Design and wrench-feasible workspace analysis of a cable-driven hybrid joint,” Int. J. Adv. Rob. Syst. 17(1), 1729881419899758 (2020).Google Scholar
Wang, H., Li, W., Liu, H., Zhang, J. and Liu, S., “Conceptual design and dimensional synthesis of a novel parallel mechanism for lower-limb rehabilitation,” Robotica 37(3), 469–480 (2019).CrossRefGoogle Scholar
Aflakian, A., Safaryazdi, A., Masouleh, M. T. and Kalhor, A., “Experimental study on the kinematic control of a cable suspended parallel robot for object tracking purpose,” Mechatronics 50, 160–176 (2018).CrossRefGoogle Scholar
Zou, Y., Wang, N., Liu, K. and Geng, X., “Design and analysis of movable cable-driven lower limb rehabilitation robot,” J. Huazhong Univ. Sci. Tech. (Natural Science Edition) 47(1), 22–26 and 38 (2019).Google Scholar
Su, Y., “Mechanical analysis and performance optimization of wire driven parallel robot,” Xi’dian University (2014).Google Scholar
Zhao, Z. G., Wang, Y. L., Ma, Y., Su, C., Li, J. S. and Ji, G., “Dynamical workspace of multi-robot collaborative towing system,” J. Harbin Eng. Univ. 38(7), 1079–1085+1161 (2017).Google Scholar