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

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Journal of Bionic Engineering 2022年第2期19卷 390-402页

作者： Ferdaws Ennaiem Abdelbadia Chaker Juan Sandoval Sami Bennour Abdelfattah Mlika lotfi romdhane Said Zeghloul Med Amine Laribi Department of GMSC Pprime Institute CNRSENSMAUniversity of PoitiersUPR 3346PoitiersFrance Mechanical Laboratory of Sousse(LMS) National Engineering School of SousseUniversity of Sousse4000 SousseTunisia American University of Sharjah PO Box 26666SharjahUnited Arab Emirates

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.

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

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Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2010年第4期11卷 231-239页

作者： Marco CECCARELLI lotfi romdhane Laboratory of Robotics and Mechatronics DIMSATUniversity of Cassino-CassinoItaly Département de Mécanique Avancée Ecole Nationale d'Ingénieurs de SousseTunisia

We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications.From an engineering perspective,we discuss the design constraints related to acceptance by patients and physiotherapist users.To date,most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction.Some specific examples are illustrated from the authors' experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM),Italy.

关键词： Robot design Robot applications Cable-based parallel manipulators Human-machine mechanical interfaces

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Analysis and optimal synthesis of single loop spatial mechanisms

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2011年第9期12卷 665-679页

作者： Med Amine LARIBI lotfi romdhane Sad ZEGHLOUL Laboratoire de Génie Mécanique LAB-MA-05 Ecole Nationale d'Ingénieurs de Sousse Institut Pprime-UPR 3346 CNRS-Université de Poitiers-ENSMA Département Génie Mécanique et Systémes Complexes SP2MIBP30179 86962 Futuroscope France

In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-Hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm (GA) has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC (R: revolute; S: spherical; C: cylindrical; P: prismatic), have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic (GA-FL) method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither dificulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

关键词：空间机制基因算法模糊的逻辑(GA-FL ) 方法 Denevit-Hartenberg 参数机制合成

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Design Study of a Cable-based Gait Training Machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine Med Amine Laribi Sami Bennour lotfi romdhane Said Zeghloul Mechanical Laboratory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

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An Efficient Two-Phase Model for Computing Influential Nodes in Social Networks Using Social Actions

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Journal of Computer Science & Technology 2018年第2期33卷 286-304页

作者： Mehdi Azaouzi lotfi Ben romdhane Modeling of Automated Reasoning Systems Research Laboratory LR17ES05 Higher Institute of Computer Science and Telecom University of Sousse Sousse 526-~002 Tunisia

The measurement of influence in social networks has received a lot of attention in the data mining community. Influence maximization refers to the process of finding influential users who make the most of information or product adoption. In real settings, the influence of a user in a social network can be modeled by the set of actions （e.g., ＂like＂, ＂share＂, ＂retweet＂, ＂comment＂） performed by other users of the network on his/her publications. To the best of our knowledge, all proposed models in the literature treat these actions equally. However, it is obvious that a ＂like＂ of a publication means less influence than a ＂share＂ of the same publication. This suggests that each action has its own level of influence （or importance）. In this paper, we propose a model （called Social Action-Based Influence Maximization Model, SAIM） for influence maximization in social networks. In SAIM, actions are not considered equally in measuring the ＂influence power＂ of an individual, and it is composed of two major steps. In the first step, we compute the influence power of each individual in the social network. This influence power is computed from user actions using PageRank. At the end of this step, we get a weighted social network in which each node is labeled by its influence power. In the second step of SAIM, we compute an optimal set of influential nodes using a new concept named ＂influence-BFS tree＂. Experiments conducted on large-scale real-world and synthetic social networks reveal the good performance of our model SAIM in computing, in acceptable time scales, a minimal set of influential nodes allowing the maximum spreading of information.

关键词： social network social influence social action personalized PageRank influence-BFS tree

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