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cable-driven Flexible Exoskeleton Robot for Abnormal Gait Rehabilitation

Journal of Shanghai Jiaotong university(Science) 2022年第2期27卷 231-239页

作者： Xu Ziwei Xie Le School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai200030China Institute of Forming Technology&Equipment Shanghai Jiao Tong UniversityShanghai200030China

The number of people with abnormal gait in China has been increasing for *** with traditional methods,lower limb rehabilitation robots which address problems such as longstanding human guidance may cause fatigue,and the training is lacking scientific and intuitive monitoring ***,typical rigid rehabilitation robots are always meeting drawbacks like the enormous weight,the limitation of joint movement,and low *** purpose of this research is to design a cable-driven flexible exoskeleton robot to assist in rehabilitation training of patients who have abnormal gait due to low-level hemiplegia or *** system consists of a PC terminal,a Raspberry Pi,and the actuator *** and training are realized through remote operation and interactive interface *** designed an integrated and miniaturized driving control *** the box,two driving cables on customized pulley-blocks with different radii can retract/release by one motor after transmitting the target position to the Raspberry Pi from the *** force could be transferred to the flexible suit to aid hip flexion and ankle plantar ***,the passive elastic structure was intended to assist ankle *** also adopted the predictable admittance controller,which uses the Prophet algorithm to predict the changes in the next five gait cycles from the current ankle angular velocity and obtain the ideal force curve through a functional *** admittance controller can realize the desired force ***,we finished the performance test and the human-subject *** data indicate that the exoskeleton can meet the basic demand of multi-joint assistance and improve abnormal ***,it can increase the range of joint rotation and eliminate asymmetrical during walking.

关键词： flexible rehabilitation exoskeleton lower limb cable-driven abnormal gait

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Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms

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Science China(Technological Sciences) 2020年第2期63卷 255-264页

作者： TANG Lei ZHU LiMin ZHU XiangYang GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.

关键词： cable-driven snake robot confined spaces path following prediction lookup interpolation

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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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CUBE, a cable-driven Device for Limb Rehabilitation

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Journal of Bionic Engineering 2019年第3期16卷 492-502页

作者： Daniele Cafolla Matteo Russo Giuseppe Carbone IRCCS Neuromed Via delFelettronica 86077 Pozzilli IS Italy University of Nottingham Advanced Manufacturing Building C47 Nottingham NG8 IBB UK DIMEG University of Calabria Via Bucci Cubo 46C 87036 Rende Italy CESTER Technical University of Cluj-Napoca MunciiAve. 103-105 400641 Cluj-Napoca Romania

In this paper, a novel cable-driven parallel robot, CUBE, is introduced for the assistance of patients in rehabilitation exercising of both upper and lower limbs. The system is characterized by a lightweight structure that is easy to set-up and operate, for both clinical and home usage for both pre-determined and customized exercises, with control over the position of the end-effector while locking its rotation around the horizontal axes. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. While a novel end-effector design makes the device wearable both on the upper and lower limbs without having to disassemble any part of the structure. The design is presented with its kinematic analysis. Then, the manufacturing through 3D?printing and commercial components of a first prototype is reported. Finally, the system is validated through motion tests along simple trajectories and two different spatial exercises.

关键词： cable-driven robots medical robots parallel robots rehabilitation devices

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Optimal Joint Space Control of a cable-driven Aerial Manipulator

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Computer Modeling in Engineering & Sciences 2023年第4期135卷 441-464页

作者： Li Ding Rui Ma Zhengtian Wu Rongzhi Qi Wenrui Ruan College of Mechanical Engineering Jiangsu University of TechnologyChangzhou213000China School of Electronic and Information Engineering Suzhou University of Science and TechnologySuzhou215123China

This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external ***,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud *** approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics *** simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.

关键词： Aerial manipulator cable-driven robust control linear extend state observer salp swarm algorithm

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Observer-Based Control for a cable-driven Aerial Manipulator under Lumped Disturbances

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Computer Modeling in Engineering & Sciences 2023年第5期135卷 1539-1558页

作者： Li Ding Yong Yao Rui Ma College of Mechanical Engineering Jiangsu University of TechnologyChangzhou213000China

With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more ***,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical *** this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into *** achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is *** linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control *** adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering *** Lyapunovmethod is utilized to prove the overall stability and convergence of the ***,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.

关键词： Aerial manipulator cable-driven adaptive super-twisting linear extend state observer fractional-order nonsingular terminal sliding mode

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

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Frontiers of Mechanical Engineering 2022年第4期17卷 53-65页

作者： Haiying WEN Jianxiong ZHU Hui ZHANG Min DAI Bin LI Zhisheng ZHANG Weiliang XU Ming CONG School of Mechanical Engineering Southeast UniversityNanjing 211189China Engineering Research Center of New Light Sources Technology and Equipment Ministry of EducationNanjing 210009China Department of Stomatology Zhongda Hospital Affiliated to Southeast UniversityNanjing 210009China Department of Mechanical&Mechatronics Engineering The University of AucklandAuckland 1142New Zealand School of Mechanical Engineering Dalian University of TechnologyDalian 116024China

Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses.A cable-driven linear actuator(CDLA)capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing *** CDLA presents remarkable advantages,such as lightweight and high stiffness structure,in using cable amplification and pulley *** work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot(SMAR)to solve existing problems,such as bulky driving linkage and position change of the muscle’s *** analysis and performance experiment validate the CDLA’s efficiency,with its stiffness reaching 1379.6 N/mm(number of cable parts n=4),which is 21.4 times the input wire ***,the CDLA’s force transmission efficiencies in two directions are 84.5%and 85.9%.Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot cable-driven linear actuator parallel robot stiffness analysis

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Modifed Pre-stretching Assembly Method for cable-driven Systems

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Chinese Journal of Mechanical Engineering 2019年第3期32卷 17-32页

作者： Guokai Zhang Xuyang Ren Jinhua Li Kang Kong Shuxin Wang Jingchao Shen Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300354China School of Mechanical Engineering Tianjin UniversityTianjin 300350China

Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing to moving parts in the system. A simple closed-loop cable-driven system is built and an alternating load is applied to it to replicate the operation of transmission cables. Under different experimental conditions, the cable tension is recorded and the boundary data are selected to be curve-fitted. Based on the fitted results, a formula is presented to estimate the stress relaxation of cables to evaluate the assembly performance. Further experimental results show that the stress relaxation is mainly caused by cable creep and the assembly procedure. To remove the influence of the assembly procedure, a modified pre-stretching assembly method based on the stress relaxation theory is proposed and verification experiments are performed. Finally, the assembly performance is optimized using a cable-driven surgical robot as an example. This paper proposes a dual stretching method instead of the pre-stretching method to assemble the cable-driven system to improve its performance and prolong its service life.

关键词： Performance cable-driven system Pre-stretching Assembly

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An untethered cable-driven ankle exoskeleton with plantarflexion-dorsiflexion bidirectional movement assistance

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Frontiers of Information Technology & Electronic Engineering 2020年第5期21卷 723-739页

作者： Tian-miao WANG Xuan PEI Tao-gang HOU Yu-bo FAN Xuan YANG Hugh MHERR Xing-bang YANG School of Mechanical Engineering and Automation Beihang UniversityBeijing 100083China Shenyuan Honors College Beihang UniversityBeijing 100083China School of Biological Science and Medical Engineering Beihang UniversityBeijing 100083China MIT Media Lab Massachusetts Institute of TechnologyCambridgeMA 02139-4307USA Beijing Advanced Innovation Center for Biomedical Engineering Beihang UniversityBeijing 100083China

Lower-limb assisted exoskeletons are widely researched for movement assistance or rehabilitation *** to advantages of compliance with human body and lightweight,some cable-driven prototypes have been developed,but most of these can assist only unidirectional *** this paper we present an untethered cable-driven ankle exoskeleton that can achieve plantarflexion-dorsiflexion bidirectional motion bilaterally using a pair of single *** main weights of the exoskeleton,i.e.,the motors,power supplement units,and control units,were placed close to the proximity of the human body,i.e.,the waist,to reduce the redundant rotation inertia which would apply on the wearer’s leg.A cable force transmission system based on gear-pulley assemblies was designed to transfer the power from the motor to the end-effector effectively.A cable self-tension device on the power output unit was designed to tension the cable during *** gait detection system based on a foot pressure sensor and an inertial measurement unit(IMU)could identify the gait cycle and gait states *** validate the power output performance of the exoskeleton,a torque tracking experiment was *** the subject was wearing the exoskeleton with power on,the muscle activity of the soleus was reduced by 5.2%compared to the state without wearing the *** preliminarily verifies the positive assistance effect of our *** study in this paper demonstrates the promising application of a lightweight cable-driven exoskeleton on human motion augmentation or rehabilitation.

关键词： Ankle exoskeleton Plantarflexion-dorsiflexion bidirectional assistance Biological gait torque cable-driven Gait detection

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On the Optimal Design of cable driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks

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Journal of Bionic Engineering 2019年第3期16卷 503-513页

作者： Laribi Med Amine Carbone Giuseppe Zeghloul Said Department of GMSC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Department of Mechanical Energy and Management Engineering University of Calabria 87036 Rende Italy CESTER Technical University of Cluj-Napoca Muncii Ave. 103-105 400641 Cluj-Napoca Romania

This paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and cost effectiveness. Here, both the cable tensions that are needed to move a wristband as well as the workspace need to be carefully optimized for fulfilling the prescribed operation tasks. A specific case of study is addressed in this work by referring to LA RM wire driven exercising device (LAWEX), which is applied to upper limbs exercises. To that end, a motion capture system is used to collect quantitative data on the prescribed workspace of a human upper limb. A specific optimization problem is settled up for considering combining two optimization goals, namely, the smallest robot size reaching a prescribed workspace and the minimum cable tension distributions. A sequence of optimization steps is defined using Genetic Algorithms (GAs) applied to LAWEX robot. The proposed objective function is based on a mathematical formulation of the power of a point with respect to bounding surfaces in combination with a performance index to show the distributions of the minimum cable tensions.

关键词： LAWEX robot design bionic robot cable-driven robots optimization power of the point rehabilitation tasks

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