Design and development of a medical parallel robot for cardiopulmonary resuscitation

Yangmin Li, Qingsong Xu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

106 Citations (Scopus)


The concept of a medical parallel robot applicable to chest compression in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirement of CPR action, a three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) is designed and developed for such applications, and a detailed analysis has been performed for the 3-PUU TPM involving the issues of kinematics, dynamics, and control. In view of the physical constraints imposed by mechanical joints, both the robot-reachable workspace and the maximum inscribed cylinder-usable workspace are determined. Moreover, the singularity analysis is carried out via the screw theory, and the robot architecture is optimized to obtain a large well-conditioning usable workspace. Based on the principle of virtual work with a simplifying hypothesis adopted, the dynamic model is established, and dynamic control utilizing computed torque method is implemented. At last, the experimental results made for the prototype illustrate the performance of the control algorithm well. This research will lay a good foundation for the development of a medical robot to assist in CPR operation.
Original languageEnglish
Pages (from-to)265-273
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Issue number3
Publication statusPublished - 1 Jun 2007
Externally publishedYes


  • Control
  • Design theory
  • Dynamics
  • Medical robots
  • Parallel manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering


Dive into the research topics of 'Design and development of a medical parallel robot for cardiopulmonary resuscitation'. Together they form a unique fingerprint.

Cite this