Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane

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MOROVAT M.M.; Safarabadi Farahani M.; Sadigh Damghani M.J.; MASHAYEKHI A.M.

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Journal: Modares Mechanical Engineering Year:2020 | Volume:20 | Issue:5 Page(s): 1295-1308

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Title

Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane

Author(s)

MOROVAT M.M. | Safarabadi Farahani M. | Sadigh Damghani M.J. | MASHAYEKHI A.M. | Issue Writer Certificate

Keywords

Cable RobotQ1

Rehabilitation RobotQ1

Dynamic WorkspaceQ1

Static WorkspaceQ1

OptimizationQ2

Abstract

Diseases such as heart and brain attacks, which sometimes lead to movement disorders in people, has raised with an increasing community age. Nowadays, medical scientists replaced Rehabilitation Robots instead of traditional therapeutic methods. Design and implementation of a low-cost and home-like usable device for a patient was the primary goal of this research. In this study, a robot which consisted of cable and springs for movement in the transverse plane of the human body was introduced. For this purpose, stiffness and free length of springs were achieved by an Optimization process, firstly. Afterward, static and Dynamic Workspace calculated to identify robot mechanical characteristic. At the end, controllability of the system in different paths in two conditions of presence and absence of the patient’ s hand was investigated and verified by the results obtained by the built device. Dynamic and Static Workspace indicates that a patient can do exercises with the help of the designed robot. Also, the control results and the obtained results from the implemented device test shows the stability of the control system and its ability to eliminate possible error occurring in the path.

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APA: Copy

MOROVAT, M.M., Safarabadi Farahani, M., Sadigh Damghani, M.J., & MASHAYEKHI, A.M.. (2020). Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane. MODARES MECHANICAL ENGINEERING, 20(5 ), 1295-1308. SID. https://sid.ir/paper/178544/en

Vancouver: Copy

MOROVAT M.M., Safarabadi Farahani M., Sadigh Damghani M.J., MASHAYEKHI A.M.. Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane. MODARES MECHANICAL ENGINEERING[Internet]. 2020;20(5 ):1295-1308. Available from: https://sid.ir/paper/178544/en

IEEE: Copy

M.M. MOROVAT, M. Safarabadi Farahani, M.J. Sadigh Damghani, and A.M. MASHAYEKHI, “Dynamic Design and Control of a Cable Driven Rehabilitation Robot with 2 Degrees of Freedom in Transverse Plane,” MODARES MECHANICAL ENGINEERING, vol. 20, no. 5 , pp. 1295–1308, 2020, [Online]. Available: https://sid.ir/paper/178544/en

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