Optimum Design of a Wire-Driven Redundant Spherical Parallel Manipulator for Foot Drop Rehabilitation System

Ahmed Gamal, Abdelfatah Mohamed, Hiroyasu Iwata, Samy F.M. Assal

研究成果: Conference contribution

抄録

Post stroke patients may suffer from a gait disorder which is called foot drop. They may experience a toedrag, slow walking speed and a high risk of tripping. Although physical therapy exercises can be a remedy to such cases, their high cost and the lack of professional caregivers arise the need for robotic rehabilitation systems. On the other hand, the existing robotic systems for foot-drop rehabilitation are heavy and bulky. Therefore, in this paper, a lightweight foot-drop rehabilitation system based on a wire-driven redundant spherical parallel manipulator (RSPM) is developed. The proposed RSPM can provide 3-DOF movements to exercise the dorsiflexion, plantarflexion, supination, lateral and medial rotations. Kinematic and static analyses are performed for the proposed rob RSPM. In order to guarantee permissible positive tensions for the wires of the RSPM, a new performance index is introduced, called permissible tension index. Optimum design based on optimizing certain performance indices is carried out to obtain the proper dimensions of the movable platform design parameters of the proposed RSPM. A new index called permissible tension index is introduced to guarantee permissible positive tensions for the wires of the RSPM. A weighted sum of the global kinematic dexterity, global minimized transmission and the global permissible tension indices is considered for the objective function of the optimization process. The RSPM performance is evaluated over its range of motion and the reaction forces exerted on the ankle are shown to be tolerable by an injured ankle. Additionally, the Jacobian-based kinematic controller is shown to be capable of tracking the normal gait trajectories with acceptable tracking errors.

本文言語English
ホスト出版物のタイトルIECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
出版社IEEE Computer Society
ISBN(電子版)9781665480253
DOI
出版ステータスPublished - 2022
イベント48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022 - Brussels, Belgium
継続期間: 2022 10月 172022 10月 20

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)
2022-October
ISSN(印刷版)2162-4704
ISSN(電子版)2577-1647

Conference

Conference48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
国/地域Belgium
CityBrussels
Period22/10/1722/10/20

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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