Kinematic design and dynamic analysis of a medical parallel manipulator for chest compression task

Yangmin Li, Qingsong Xu

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

5 Citations (Scopus)


The kinematic design of a medical parallel manipulator used for chest compressions in the process of cardiopulmonary resuscitation (CPR) is presented in this paper. According to the requirements of CPR action from medical viewpoints, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such applications. The dynamic modeling is performed for the 3-PRS PM by two different approaches of Lagrangian formulation and virtual work principle utilizing a simplification hypothesis. Simulation results verify the accuracy of the derived dynamic equations quantitatively, and demonstrate the rationality of the adopted simplified hypothesis. The research work presented here provides a sound base to develop a new medical manipulator to assist in CPR operation, which is expected to reduce the workload of doctors in rescuing patients significantly.
Original languageEnglish
Title of host publication2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
Number of pages6
Publication statusPublished - 1 Dec 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Biomimetics, ROBIO - Shatin, N.T., China
Duration: 5 Jul 20059 Jul 2005


Conference2005 IEEE International Conference on Robotics and Biomimetics, ROBIO
CityShatin, N.T.


  • Cardiopulmonary resuscitation
  • Dynamics
  • Medical robot
  • Parallel manipulators

ASJC Scopus subject areas

  • Engineering(all)

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