Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation
This paper investigates and presents a cable-driven
robot to lower limb rehabilitation use in sagittal plane. The presented
rehabilitation robot is used for a trajectory tracking in joint space.
The paper covers kinematic and dynamic analysis, which reveals
the tensionability of the used cables as being the actuating source
to provide a rehabilitation exercises of the human leg. The desired
trajectory is generated to be used in the control system design in joint
space. The obtained simulation results is showed to be efficient in
this kind of application.
[1] A. Alamdari and V. Krovi, “Robotic physical exercise and system
(ropes): a cable-driven robotic rehabilitation system for lower-extremity
motor therapy,” in International Design Engineering Technical
Conferences and Computers and Information in Engineering Conference
IDETC/CIE 2015, vol. 5A, Boston, Massachusetts, USA, August 2-5
2015.
[2] A. Pennycott, D. Wyss, H. Vallery, V. Klamroth-Marganska, and
R. Riener, “Towards more effective robotic gait training for
stroke rehabilitation: a review,” Journal of NeuroEngineering and
Rehabilitation, vol. 9, no. 1, 2012.
[3] R. Gopura, D. Bandara, K. Kiguchi, and G. Mannc, “Developments in
hardware systems of active upper-limb exoskeleton robots: A review
r.a.r.c,” Robotics and Autonomous Systems, vol. 75, p. 203220, 2016.
[4] M. M. D. Azuwan and S.-I. Yamamoto, “Recent trends in lower-limb
robotic rehabilitation orthosis:control scheme and strategy for pneumatic
muscle actuated gait trainers,” Robotics, vol. 3, no. 2, p. 120148, 2014.
[5] L. Cai, A. Fong, C. Otoshi, Y. Liang, J. Cham, V. Zhong, R. Roy,
V. Edgerton, and J.W.Burdick, “Effects of consistency variability in
roboticallycontrolled training of stepping in adult spinal mice,” in 9th
International Conference on Rehabilitation Robotics, 2005, pp. 575 –
579.
[6] D. Zanotto, P. Stegall, and S. Agrawal, “Alex iii: A novel roboticplatform
with 12 dofs for human gait training,” in International Conference on
Robotics and Automation, 2013, pp. 3914 – 3919.
[7] J. Xin, Xiang, and S. K. Agrawal, “Design of a cable-driven active leg
exoskeleton (c-alex) and gait training experiments with human subjects,”
in 2015 IEEE International Conference on Robotics and Automation
(ICRA) Washington State Convention Center Seattle, Washington. IEEE,
2015.
[8] J. Meuleman, H. F. E. V. Asseldonk, and H. V. D. Kooij, “Novel
actuation design of a gait trainer with shadow leg approach,” in
International Conference on Rehabilitation Robotics, 2013, pp. 1–8.
[9] J. Bryson and S. K. Agrawal, “Methodology to identify and analyze
optimal cable configurations in the design of cable-driven serial
manipulators,” in ASME 2013 International Design Engineering
Technical Conferences and Computers and Information in Engineering
Conference, 2013.
[10] J. Merlet, “Kinematics of the wire-driven parallel robot marionet
using linear actuators.” IEEE International Conference on Robotics and
Automation, 2008.
[11] S. Rezazadeh and S. Behzadipour, “Workspace analysis of multibody
cable-driven mechanisms,” in Journal of Mechanisms and Robotics.
ASME, 2011.
[12] C. Gosselin and M. Grenier, “On the determination of the force
distribution in overconstrained cable-driven parallel mechanisms,” in
Meccanica, vol. 46, 2011, pp. 3–15.
[13] D. Winter, Biomechanicsandmotorcontrolofhumanmovement, J. W. Sons,
Ed., 2009.
[14] J. J. Craig, Introduction to Robotics Mechanics and control,third edition,
Pearson Prentice Hall. Pearson Education International, 2005.
[15] F. Lewis, C. Abdallah, and D.Dawson, Robot Manipulator Control:
theory and practice. Marcel Dekker, 2004.
[16] B. Siciliano and L. Villani, Robot force control. Kluwer Academic,
1999.
[17] H. Wang, X. Shi, H. Liu, L. Li, Z. Hou, and H. Yu, “Design, kinematics,
simulation, and experiment for a lower-limb rehabilitation robot,” in
Proceedings of the Institution of Mechanical Engineers, Part I: Journal
of Systems and Control Engineering., 2011.
[1] A. Alamdari and V. Krovi, “Robotic physical exercise and system
(ropes): a cable-driven robotic rehabilitation system for lower-extremity
motor therapy,” in International Design Engineering Technical
Conferences and Computers and Information in Engineering Conference
IDETC/CIE 2015, vol. 5A, Boston, Massachusetts, USA, August 2-5
2015.
[2] A. Pennycott, D. Wyss, H. Vallery, V. Klamroth-Marganska, and
R. Riener, “Towards more effective robotic gait training for
stroke rehabilitation: a review,” Journal of NeuroEngineering and
Rehabilitation, vol. 9, no. 1, 2012.
[3] R. Gopura, D. Bandara, K. Kiguchi, and G. Mannc, “Developments in
hardware systems of active upper-limb exoskeleton robots: A review
r.a.r.c,” Robotics and Autonomous Systems, vol. 75, p. 203220, 2016.
[4] M. M. D. Azuwan and S.-I. Yamamoto, “Recent trends in lower-limb
robotic rehabilitation orthosis:control scheme and strategy for pneumatic
muscle actuated gait trainers,” Robotics, vol. 3, no. 2, p. 120148, 2014.
[5] L. Cai, A. Fong, C. Otoshi, Y. Liang, J. Cham, V. Zhong, R. Roy,
V. Edgerton, and J.W.Burdick, “Effects of consistency variability in
roboticallycontrolled training of stepping in adult spinal mice,” in 9th
International Conference on Rehabilitation Robotics, 2005, pp. 575 –
579.
[6] D. Zanotto, P. Stegall, and S. Agrawal, “Alex iii: A novel roboticplatform
with 12 dofs for human gait training,” in International Conference on
Robotics and Automation, 2013, pp. 3914 – 3919.
[7] J. Xin, Xiang, and S. K. Agrawal, “Design of a cable-driven active leg
exoskeleton (c-alex) and gait training experiments with human subjects,”
in 2015 IEEE International Conference on Robotics and Automation
(ICRA) Washington State Convention Center Seattle, Washington. IEEE,
2015.
[8] J. Meuleman, H. F. E. V. Asseldonk, and H. V. D. Kooij, “Novel
actuation design of a gait trainer with shadow leg approach,” in
International Conference on Rehabilitation Robotics, 2013, pp. 1–8.
[9] J. Bryson and S. K. Agrawal, “Methodology to identify and analyze
optimal cable configurations in the design of cable-driven serial
manipulators,” in ASME 2013 International Design Engineering
Technical Conferences and Computers and Information in Engineering
Conference, 2013.
[10] J. Merlet, “Kinematics of the wire-driven parallel robot marionet
using linear actuators.” IEEE International Conference on Robotics and
Automation, 2008.
[11] S. Rezazadeh and S. Behzadipour, “Workspace analysis of multibody
cable-driven mechanisms,” in Journal of Mechanisms and Robotics.
ASME, 2011.
[12] C. Gosselin and M. Grenier, “On the determination of the force
distribution in overconstrained cable-driven parallel mechanisms,” in
Meccanica, vol. 46, 2011, pp. 3–15.
[13] D. Winter, Biomechanicsandmotorcontrolofhumanmovement, J. W. Sons,
Ed., 2009.
[14] J. J. Craig, Introduction to Robotics Mechanics and control,third edition,
Pearson Prentice Hall. Pearson Education International, 2005.
[15] F. Lewis, C. Abdallah, and D.Dawson, Robot Manipulator Control:
theory and practice. Marcel Dekker, 2004.
[16] B. Siciliano and L. Villani, Robot force control. Kluwer Academic,
1999.
[17] H. Wang, X. Shi, H. Liu, L. Li, Z. Hou, and H. Yu, “Design, kinematics,
simulation, and experiment for a lower-limb rehabilitation robot,” in
Proceedings of the Institution of Mechanical Engineers, Part I: Journal
of Systems and Control Engineering., 2011.
@article{"International Journal of Electrical, Electronic and Communication Sciences:73504", author = "Hachmia Faqihi and Maarouf Saad and Khalid Benjelloun and Mohammed Benbrahim and M. Nabil Kabbaj", title = "Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation", abstract = "This paper investigates and presents a cable-driven
robot to lower limb rehabilitation use in sagittal plane. The presented
rehabilitation robot is used for a trajectory tracking in joint space.
The paper covers kinematic and dynamic analysis, which reveals
the tensionability of the used cables as being the actuating source
to provide a rehabilitation exercises of the human leg. The desired
trajectory is generated to be used in the control system design in joint
space. The obtained simulation results is showed to be efficient in
this kind of application.", keywords = "Cable-driven multibody system, computed-torque
controller, lower limb rehabilitation, tracking trajectory.", volume = "10", number = "8", pages = "1036-6", }
