Concept design and dynamic modeling of a medical parallel manipulator to assist in cardiopulmonary resuscitation

Yangmin Li, Qingsong Xu

Research output: Journal article publicationConference articleAcademic researchpeer-review

2 Citations (Scopus)


The concept of a medical parallel manipulator applied to chest compressions in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirements of CPR action from medical aspects, a S-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such kind of applications. The dynamic modeling is performed for the S-PRS PM by the approach of Lagrangian formulation, and the simulation results verify the accuracy of the derived dynamic equations quantitatively. The research work provides a sound base for the development of a medical manipulator to assist in CPR operation.
Original languageEnglish
Article number1557060
Pages (from-to)842-845
Number of pages4
JournalCanadian Conference on Electrical and Computer Engineering
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventCanadian Conference on Electrical and Computer Engineering 2005 - Saskatoon, SK, Canada
Duration: 1 May 20054 May 2005


  • Dynamic modeling
  • Medical robots
  • Parallel manipulators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Hardware and Architecture

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