Design and Kinematics Analysis of 3-URS Ankle Rehabilitation Parallel Robot
Pages 163 - 175
Abstract
The ankle rehabilitation robot is essential equipment for patients with clubfoot and talipes valgus to make up for deficiencies of the manual rehabilitation training and reduce the workload of rehabilitation physicians. Based on the physiological model of the ankle joint and the requirement of rehabilitation in physical therapy, an ankle rehabilitation parallel mechanism has three limbs with a universal joint, rotation joint, and spherical joint configures (3-URS ARPM), which had 6-DOF was analyzed and developed. The inverse kinematics problem of 3-URS ARPM was then solved using GRG optimization methods combined with the Banana objective function. As a result, six control solutions of the inverse kinematics of 3-URS ARPM are obtained. Furthermore, the forward kinematics problem is also analyzed through optimization approaches suitable for motor position control. Finally, the kinematic control characteristic of joints variable for 3-URS ARPM is presented in detail, comparing its motion range to the ADAMS software. The numerical simulation results showed an excellent smooth trajectory tracking in real-time control, indicating that this mechanism for ankle rehabilitation with a simple structure has precise control characteristics with the accuracy achieved is . Hence, the developed 3-URS ARPM can be applied to ankle rehabilitation widely.
References
[1]
S. Hussain, M. H. Ghayesh, and S. V. Rogozina P. K. Jamwal, "Adaptive impedance control of parallel ankle rehabilitation robot," Journal of Dynamic Systems, Measurement, and Control 139 (11) (2017) p. Article 111006. https://doi.org/10.1115/1.4036560
[2]
M. Bouzit, G. Burdea M. Girone, "“Rutgers Ankle” orthopedic rehabilitation interface," in Proceedings of the Asme Dynamic Systems and Control Division 67 (1999) 305-312. https://www.researchgate.net/publication/243769277_Rutgers_Ankle_orthopedic_rehabilitation_interface
[3]
G.Burdea, M. Bouzit, V. Popescu, and J. Deutsch M. Girone, "Orthopedic rehabilitation using the" Rutgers ankle" interface," Studies in Healthy Technology and Information, 70 (2000) 89-95
[4]
J. Latonio, G. C. Burdea, and R Boian J. E. Deutsch, "Post-stroke rehabilitation with the Rutgers Ankle System: a case study," Presence:Teleoperators and Virtual Environments, 10(4) (2001) 416-430. https://doi.org/10.1162/1054746011470262
[5]
T. Zhao, and C. Nester J. S. Dai, "Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device," Autonomous Robots, 16 2 (2004) 207-218. https://doi.org/10.1023/B:AURO.0000016866.80026.d7
[6]
Yuchong, "Research and development of virtual reality-based haptic interfacture technology," Robotics, 25 5 (2003) 475-480. http://robot.sia.cn/CN/Y2003/V25/I5/475
[7]
Wang Yue and Wang Xiaolong, "Outside the virtual reality research arm bone rehabilitation system," Machine Design and Research, 20 1 (2004) 74-76.
[8]
Gao Jinlian, Yue Hong, Zhang Xiaojun,Lu Guangda Liu Gengqian, "Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation," in International Conference on Intelligent Robots and Systems (IROS), Beijing,China, (2006) 9-15.
[9]
Chai Hin, Shi Liu, and Qian Qiaoshuo, "3-RSS / Modeling and Simulation ankle rehabilitatioa parallel robot," Electro mechanical Product Development & Innovation, 19 3 (2006) 9-12.
[10]
S. Xie, and K. C. Aw P. K. Jamwal, "Kinematic design optimization of a parallel ankle rehabilitation robot using modified genetic algorithm," Robotics and Autonomous Systems, 57 10 (2009) 1018-1027. https://doi.org/10.1016/j.robot.2009.07.017\
[11]
S. Hussain, and S. Xie P. Jamwal, "Three-stage design analysis and multicriteria optimization of a parallel ankle rehabilitation robot using genetic algorithm," IEEE Transactions on Automation Science and Engineering, 12 4 (2014) 1433-1446.
[12]
P. K. Jamwal and S.Hussain, "Design optimization of a cable actuated parallel ankle rehabilitation robot: a fuzzy based multi-objective evolutionary approach," Journal of Intelligent & Fuzzy Systems, 31 3 (2016) 1897-1908.
[13]
C. Wang and Y. Fang and S. Guo, "Multi-objective optimization of a parallel ankle rehabilitation robot using modified differential evolution algorithm," Chinese Journal of Mechanical Engineering, 28 4 (2015) 702-715. https://doi.org/10.3901/CJME.2015.0416.062
[14]
C. Wang, Y. Fang, and S. Guo and Y. Chen, "Design and kinematical performance analysis of a 3-RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation," Journal of Mechanisms and Robotics, 5 4 (2013) 041003.
[15]
C. Wang, Y. Fang, and S. Guo and C. Zhou, "Design and kinematic analysis of redundantly actuated parallel mechanisms for ankle rehabilitation," Robotica, 33 2 (2015) 366-384.
[16]
S. Caro, P. Wenger L Nurahmi, "Design of 3-RPS parallel manipulator based on operation mode," in 14th IFToMM World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015. hal-02947194
[17]
Bian H, Liu YH, Liang ZC, and, "A novel 2-RRR/ UPRR robot mechanism for ankle rehabilitation and its kinematics," Robot, (2010) 6-12.
[18]
Jianfeng Li, Mingjie Dong, Bin Fang, Ying Cui, Shiping Zuo, and Kai Zhang. Leiyu Zhang, "Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)," Journal of Healthcare Engineering, pp., (2019) Article ID 4164790 10 pages. https://doi.org/10.1155/2019/4164790
[19]
Tongyang Sun, Qihong Liu, Weiguang Li, Zhijiang Lu, Zhuolin Yu Jianjun Wei, "Development of Parallel Mechanism with Six Degrees of Freedom for Ankle Rehabilitation," in International Conference on Advanced Robotics and Mechatronics, Macao, 2016.
[20]
David BT, Foot & ankle (orthopaedic surgery essentials).: 2nd ed. Philadelphia, PA: Lippincott Williams & Wilkins, 2013.
[21]
Jian Huang, Chunbao Wang, Lihong Duan, Qaunquan Liu, Suntong Yang Weiguang Li, "Design of 6-DOF Parallel Ankle Rehabilitation Robot," in Proceedings of the 2018 IEEE International Conference on Cyborg and Bionic Systems, Shenzhen, China, October 25-27, 2018.
[22]
Lu, Z., Wang, C., Duan, L., Liu, Q., Sun, T., Shen, Y., Shi, Q., Li, M., Wang, Y., Long, J., Wei, J., Li, W., Takanishi, A., & Wu, Z. (2016). Development of an ankle robot MKA-III for rehabilitation training. In 2016 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2016 (pp. 523-527). [7784084] Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/RCAR.2016.7784084
[23]
Pham Thanh Long, "A new method to solve the reverse kinematic robot problem," in ISTS Swissotel Le Concorde, Thailand, (2012) 43-46.
[24]
ThanhTrung Trang, WeiGuang Li, and ThanhLong Pham, "A New Method to Solve the Kinematic Problem of Parallel Robots Using an equivalent structure," in International Conference on Mechatronics and Automation Science, 789-790 (2015) 645-701. https://doi.org/10.4028/www.scientific.net/AMM.789-790.643
[25]
ThanhTrung Trang, WeiGuang Li, and ThanhLong Pham, "A New Method to Solve the kinematic problem of parallel robots using Generalized Reduced Gradient algorithlm," Journal of Robotics and Mechatronics, 28 3 (2016) 404-417. https://doi.org/10.20965/jrm.2016.p0404
Recommendations
Design of an exoskeleton ankle robot for robot-assisted gait training of stroke patients
2017 International Conference on Rehabilitation Robotics (ICORR)Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot ...
Design of an ankle rehabilitation robot based on force sensor
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)We describe the ankle rehabilitation robot using a three-axis force/torque sensor. The Designed and manufactured three-axis force/torque sensor which can detect two directional force Fx, Fz and one directional torque Tz, was attached to the developed ...
Mechanism design of a novel two degree-of-freedom ankle rehabilitation robot
iCREATe '10: Proceedings of the 4th International Convention on Rehabilitation Engineering & Assistive TechnologyAnkle rehabilitation robot is commonly used to help people recover from ankle sprain, ligaments stretched, torn or muscle numbness. This paper proposes a novel two degree-of-freedom ankle rehabilitation robot according to the patients' rehabilitation ...
Comments
Please enable JavaScript to view thecomments powered by Disqus.Information & Contributors
Information
Published In
May 2022
329 pages
ISBN:9781450396301
DOI:10.1145/3545729
Copyright © 2022 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 13 October 2022
Check for updates
Qualifiers
- Research-article
- Research
- Refereed limited
Funding Sources
Conference
ICMHI 2022
ICMHI 2022: 2022 6th International Conference on Medical and Health Informatics
May 13 - 15, 2022
Virtual Event, Japan
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 48Total Downloads
- Downloads (Last 12 months)16
- Downloads (Last 6 weeks)1
Reflects downloads up to 28 Nov 2024
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign inFull Access
View options
View or Download as a PDF file.
PDFeReader
View online with eReader.
eReaderHTML Format
View this article in HTML Format.
HTML Format