Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

作     者：Ferdaws Ennaiem Abdelbadia Chaker Juan Sandoval Sami Bennour Abdelfattah Mlika Lotfi Romdhane Said Zeghloul Med Amine Laribi 

作者机构：Department of GMSCPprime Institute CNRSENSMAUniversity of PoitiersUPR 3346PoitiersFrance Mechanical Laboratory of Sousse(LMS)National Engineering School of SousseUniversity of Sousse4000 SousseTunisia American University of SharjahPO Box 26666SharjahUnited Arab Emirates 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2022年第19卷第2期

页      面：390-402页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 0402[教育学-心理学(可授教育学、理学学位）] 1002[医学-临床医学] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0714[理学-统计学（可授理学、经济学学位）] 0811[工学-控制科学与工程] 

基　　金：supported by the"PHC Utiquc"program of the French Ministry of Foreign Affairs and Ministry of Higher Education,Research and Innovation and the Tunisian Ministry of Higher Education and Scientific Research.P.n°19G1121 the support of the Erasmus+KA 107 program. 

主　　题：Human motion repeatability Activities of Daily Living(ADL) Analysis of Variance(ANOVA) Task workspace Cable-driven parallel robot Upper limb rehabilitation Optimization 

摘      要：An assessment of the human motion repeatability for three selected Activities of Daily Living(ADL)is performed in this paper.These exercises were prescribed by an occupational therapist for the upper limb rehabilitation.The movement patterns of five participants,recorded using a Qualisys motion capture system,are compared based on the Analysis of Variance(ANOVA)method.This survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation,which is able to reproduce the three selected exercises.This comparison is performed to justify,whether or not,there is enough similarity between the participants’gestures,and so a single reference trajectory can be adopted as the robot-prescribed workspace.Using the results of the comparative study,an optimization process of the sought robot design is carried out,where the structure size and the cable tensions simultaneously minimized.