Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation

Yangmin Li, Qingsong Xu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

40 Citations (Scopus)


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 languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Number of pages6
Publication statusPublished - 1 Dec 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2 Aug 20056 Aug 2005


ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CityEdmonton, AB


  • 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

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