Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Ulceration of the foot is one of the most common complications of diabetes mellitus and diabetes-related cause of hospitalization and lower extremity amputations. There have been proposed several treatments and utilized different devices to prevent or at least improve this. It has been shown physical therapy interventions are the most effective in the treatment of diabetic foot wounds among of all the proposed treatments, where a fully controlled motion in patients' foot is desired on a pure rotational trajectory. Therefore, parallel robots represent a good candidate for this rehabilitation purpose because of their high accuracy. This paper is devoted to designing optimal structures of three six-degree-of-freedom parallel robots (i.e. Stewart, HEXA, and INRIA Active Wrist) for the lower extremity rehabilitation by the use of the genetic algorithm and Monte Carlo method. For this purpose, several key designing parameters such as the size of the platform, the length of manipulators, actuators' parameters, and reachable workspace are considered. These designing parameters are optimized such that results in the best systems' kinematics and dynamics performance. Consequently, the advantages and disadvantages of each platform are discussed.

Original languageEnglish (US)
Title of host publication13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume6
ISBN (Electronic)9780791858202
DOIs
StatePublished - Jan 1 2017
EventASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 - Cleveland, United States
Duration: Aug 6 2017Aug 9 2017

Other

OtherASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017
CountryUnited States
CityCleveland
Period8/6/178/9/17

Fingerprint

Parallel Robot
Rehabilitation
Medical problems
Patient rehabilitation
Kinematics
Robots
Physical therapy
Manipulators
Diabetes Mellitus
Monte Carlo methods
Actuators
Diabetes
Genetic algorithms
Dynamic Performance
Trajectories
Workspace
Manipulator
Complications
Monte Carlo method
Therapy

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Dabiri, A., Sabet, S., Poursina, M., Nikravesh, P. E., & Armstrong, D. G. (2017). Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation. In 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (Vol. 6). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2017-68357

Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation. / Dabiri, Arman; Sabet, Sahand; Poursina, Mohammad; Nikravesh, Parviz E; Armstrong, David G.

13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers (ASME), 2017.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Dabiri, A, Sabet, S, Poursina, M, Nikravesh, PE & Armstrong, DG 2017, Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation. in 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. vol. 6, American Society of Mechanical Engineers (ASME), ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Cleveland, United States, 8/6/17. https://doi.org/10.1115/DETC2017-68357
Dabiri A, Sabet S, Poursina M, Nikravesh PE, Armstrong DG. Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation. In 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6. American Society of Mechanical Engineers (ASME). 2017 https://doi.org/10.1115/DETC2017-68357
Dabiri, Arman ; Sabet, Sahand ; Poursina, Mohammad ; Nikravesh, Parviz E ; Armstrong, David G. / Kinematics and dynamics comparison between three parallel robots for lower extremity rehabilitation. 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Vol. 6 American Society of Mechanical Engineers (ASME), 2017.
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