Kinematic performance analysis of a hybrid-driven waist rehabilitation robot

Bin Zi; Guangcai Yin; Yuan Li; Dan Zhang

doi:10.1007/978-3-319-33581-0_6

Kinematic performance analysis of a hybrid-driven waist rehabilitation robot

Bin Zi, Guangcai Yin, Yuan Li, Dan Zhang

Research output: Journal article publication › Journal article › Academic research › peer-review

3 Citations (Scopus)

Abstract

A hybrid-driven waist rehabilitation robot (HWRR) is designed for human waist training. According to the analysis of human body structure, the structure of the rehabilitation robot that employs the double parallel mechanism is presented. The cable-driven parallel mechanism is chosen to drive the human lower limb, and pneumatic artificial muscle (PAM) is chosen to twist the human waist. Based on the synthesis of the two types of actuators, the adaptability and safety of the HWRR are enhanced. The inverse kinematics and statics are analyzed, and the Jacobian matrix is established to analyze the rehabilitation robotic features. In addition, on the basis of the Jacobian matrix and the statics equilibrium equation, the kinematic performances of the HWRR in terms of workspace, dexterity and stiffness are calculated and analyzed.

Original language	English
Pages (from-to)	73-86
Number of pages	14
Journal	Lecture Notes in Mechanical Engineering
DOIs	https://doi.org/10.1007/978-3-319-33581-0_6
Publication status	Published - 2017
Externally published	Yes

Keywords

Hybrid-driven
Kinematic performance analysis
Waist rehabilitation robot

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

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10.1007/978-3-319-33581-0_6

Cite this

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title = "Kinematic performance analysis of a hybrid-driven waist rehabilitation robot",

abstract = "A hybrid-driven waist rehabilitation robot (HWRR) is designed for human waist training. According to the analysis of human body structure, the structure of the rehabilitation robot that employs the double parallel mechanism is presented. The cable-driven parallel mechanism is chosen to drive the human lower limb, and pneumatic artificial muscle (PAM) is chosen to twist the human waist. Based on the synthesis of the two types of actuators, the adaptability and safety of the HWRR are enhanced. The inverse kinematics and statics are analyzed, and the Jacobian matrix is established to analyze the rehabilitation robotic features. In addition, on the basis of the Jacobian matrix and the statics equilibrium equation, the kinematic performances of the HWRR in terms of workspace, dexterity and stiffness are calculated and analyzed.",

keywords = "Hybrid-driven, Kinematic performance analysis, Waist rehabilitation robot",

author = "Bin Zi and Guangcai Yin and Yuan Li and Dan Zhang",

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doi = "10.1007/978-3-319-33581-0_6",

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journal = "Lecture Notes in Mechanical Engineering",

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T1 - Kinematic performance analysis of a hybrid-driven waist rehabilitation robot

AU - Zi, Bin

AU - Yin, Guangcai

AU - Li, Yuan

AU - Zhang, Dan

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2017.

PY - 2017

Y1 - 2017

N2 - A hybrid-driven waist rehabilitation robot (HWRR) is designed for human waist training. According to the analysis of human body structure, the structure of the rehabilitation robot that employs the double parallel mechanism is presented. The cable-driven parallel mechanism is chosen to drive the human lower limb, and pneumatic artificial muscle (PAM) is chosen to twist the human waist. Based on the synthesis of the two types of actuators, the adaptability and safety of the HWRR are enhanced. The inverse kinematics and statics are analyzed, and the Jacobian matrix is established to analyze the rehabilitation robotic features. In addition, on the basis of the Jacobian matrix and the statics equilibrium equation, the kinematic performances of the HWRR in terms of workspace, dexterity and stiffness are calculated and analyzed.

AB - A hybrid-driven waist rehabilitation robot (HWRR) is designed for human waist training. According to the analysis of human body structure, the structure of the rehabilitation robot that employs the double parallel mechanism is presented. The cable-driven parallel mechanism is chosen to drive the human lower limb, and pneumatic artificial muscle (PAM) is chosen to twist the human waist. Based on the synthesis of the two types of actuators, the adaptability and safety of the HWRR are enhanced. The inverse kinematics and statics are analyzed, and the Jacobian matrix is established to analyze the rehabilitation robotic features. In addition, on the basis of the Jacobian matrix and the statics equilibrium equation, the kinematic performances of the HWRR in terms of workspace, dexterity and stiffness are calculated and analyzed.

KW - Hybrid-driven

KW - Kinematic performance analysis

KW - Waist rehabilitation robot

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U2 - 10.1007/978-3-319-33581-0_6

DO - 10.1007/978-3-319-33581-0_6

M3 - Journal article

AN - SCOPUS:85019621742

SN - 2195-4356

SP - 73

EP - 86

JO - Lecture Notes in Mechanical Engineering

JF - Lecture Notes in Mechanical Engineering

ER -

Kinematic performance analysis of a hybrid-driven waist rehabilitation robot

Abstract

Keywords

ASJC Scopus subject areas

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