Abstract
The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator (TPM) employing the architecture of a modified version of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for such applications. The mobility and velocity analysis of the manipulator is carried out in details. By introducing a simplifying hypothesis, the inverse dynamic modeling is performed based upon the principle of virtual work. Moreover, the dynamic control using computed torque method is implemented, and simulation results illustrate the well performance of the control algorithm. The research works lay a sound foundation on developing a medical robot prototype to assist in CPR operation.
| Original language | English |
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| Title of host publication | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 3371-3376 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2005 |
| Externally published | Yes |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2 Aug 2005 → 6 Aug 2005 |
Conference
| Conference | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 |
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| Country/Territory | Canada |
| City | Edmonton, AB |
| Period | 2/08/05 → 6/08/05 |
Keywords
- Cardiopulmonary resuscitation
- Dynamic control
- Dynamic modeling
- Medical robots
- Parallel manipulators
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering