Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is app...

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Autores principales:	Jingyu Zhang, Dianguo Cao, Yuqiang Wu
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	cable-driven rehabilitation robot kinematics trajectory planning fifth-order polynomial flexibility Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
Acceso en línea:	https://doaj.org/article/9b94e68ecb274ff582047768168840fb
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spelling	oai:doaj.org-article:9b94e68ecb274ff582047768168840fb2021-11-11T15:24:15ZKinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots10.3390/app1121104412076-3417https://doaj.org/article/9b94e68ecb274ff582047768168840fb2021-11-01T00:00:00Zhttps://www.mdpi.com/2076-3417/11/21/10441https://doaj.org/toc/2076-3417In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is applied to establish the kinematic model of the robot, and the relationship between the human joint angle and the cable length change was deduced. Considering joint compliance, a fifth-order polynomial trajectory planning method based on an S-shaped curve is proposed by introducing an S-shaped velocity curve, and the changes in cable length displacement, velocity, and acceleration are simulated and analyzed. Three planning methods are compared based on two indices, and experimental verification is carried out on the rehabilitation experiment platform. The simulation and experimental results show that the trajectory planning method presents low energy consumption and strong flexibility, and can achieve better rehabilitation effect, which builds a good basis for the subsequent study of dynamics and control strategy.Jingyu ZhangDianguo CaoYuqiang WuMDPI AGarticlecable-driven rehabilitation robotkinematicstrajectory planningfifth-order polynomialflexibilityTechnologyTEngineering (General). Civil engineering (General)TA1-2040Biology (General)QH301-705.5PhysicsQC1-999ChemistryQD1-999ENApplied Sciences, Vol 11, Iss 10441, p 10441 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	cable-driven rehabilitation robot kinematics trajectory planning fifth-order polynomial flexibility Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999
spellingShingle	cable-driven rehabilitation robot kinematics trajectory planning fifth-order polynomial flexibility Technology T Engineering (General). Civil engineering (General) TA1-2040 Biology (General) QH301-705.5 Physics QC1-999 Chemistry QD1-999 Jingyu Zhang Dianguo Cao Yuqiang Wu Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
description	In this study, a new cable-driven rehabilitation robot is designed, the overall design of the robot is given, and the kinematic equation of the lower limbs in the supine state of the human body is addressed. Considering that cable winders move along the rail brackets, the closed vector method is applied to establish the kinematic model of the robot, and the relationship between the human joint angle and the cable length change was deduced. Considering joint compliance, a fifth-order polynomial trajectory planning method based on an S-shaped curve is proposed by introducing an S-shaped velocity curve, and the changes in cable length displacement, velocity, and acceleration are simulated and analyzed. Three planning methods are compared based on two indices, and experimental verification is carried out on the rehabilitation experiment platform. The simulation and experimental results show that the trajectory planning method presents low energy consumption and strong flexibility, and can achieve better rehabilitation effect, which builds a good basis for the subsequent study of dynamics and control strategy.
format	article
author	Jingyu Zhang Dianguo Cao Yuqiang Wu
author_facet	Jingyu Zhang Dianguo Cao Yuqiang Wu
author_sort	Jingyu Zhang
title	Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
title_short	Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
title_full	Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
title_fullStr	Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
title_full_unstemmed	Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots
title_sort	kinematic analysis and motion planning of cable-driven rehabilitation robots
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/9b94e68ecb274ff582047768168840fb
work_keys_str_mv	AT jingyuzhang kinematicanalysisandmotionplanningofcabledrivenrehabilitationrobots AT dianguocao kinematicanalysisandmotionplanningofcabledrivenrehabilitationrobots AT yuqiangwu kinematicanalysisandmotionplanningofcabledrivenrehabilitationrobots
_version_	1718435380744683520

Kinematic Analysis and Motion Planning of Cable-Driven Rehabilitation Robots

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