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Design and development of a new cable-driven parallel robot for waist rehabilitation
Qiao Chen1; Bin Zi1; Zhi Sun1; Yuan Li1; Qingsong Xu2
Source PublicationIEEE/ASME Transactions on Mechatronics

This paper proposes a cable-driven parallel waist rehabilitation robot with two-level control algorithm to assist the patients with waist injuries to do some rehabilitation training. The uniqueness of the robot is that it can accurately implement the relative lateral bending, flexion, extension, and rotation of the waist on the premise of the safety. This is enabled by a mechanism design according to the motion characteristics of the human waist, and it can satisfy the need of different waist injury patients. The kinematics and dynamics of the robot are analyzed. In addition, a two-level controller is introduced to improve the accuracy of the rehabilitation training trajectory on the premise of the safety of patients and reduce the system calculation. The proportion-integration-differentiation (PID) algorithm is adopted to realize the position control in the low-level controller to ensure the accuracy of the robot. In the high-level controller, the fuzzy algorithm is used to adjust the parameters of the low-level controller according to the tension variation of cables, which ensures the patient safety and the stable operation of the robot. Finally, a prototype waist rehabilitation robot is developed for experimental calibration and performance testing. Results indicate that the designed robot system can achieve the waist rehabilitation training and the control algorithm can improve the system performance under the external disturbance.

KeywordMechanics Analysis Prototype Design Rehabilitation Training Experiment Two-level Controller Waist Rehabilitation
URLView the original
Indexed BySCIE
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000481955300007
Scopus ID2-s2.0-85077375086
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Cited Times [WOS]:51   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
Affiliation1.School of Mechanical Engineering,Hefei University of Technology,Hefei,230052,China
2.Department of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,999078,Macao
Recommended Citation
GB/T 7714
Qiao Chen,Bin Zi,Zhi Sun,et al. Design and development of a new cable-driven parallel robot for waist rehabilitation[J]. IEEE/ASME Transactions on Mechatronics,2019,24(4):1497-1507.
APA Qiao Chen,Bin Zi,Zhi Sun,Yuan Li,&Qingsong Xu.(2019).Design and development of a new cable-driven parallel robot for waist rehabilitation.IEEE/ASME Transactions on Mechatronics,24(4),1497-1507.
MLA Qiao Chen,et al."Design and development of a new cable-driven parallel robot for waist rehabilitation".IEEE/ASME Transactions on Mechatronics 24.4(2019):1497-1507.
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