NDLI: Control of cable-driven parallel robot for gait rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Gharatappeh, S. Abbasnejad, G. Jungwon Yoon Hosu Lee
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. Eng. & ReCAPT, Gyeongsang Nat. Univ., Jinju, South Korea (Gharatappeh, S.; Abbasnejad, G.; Jungwon Yoon; Hosu Lee)
Abstract	We report the control and simulation of a planar cable-driven parallel robot with four cables. The application of the robot is to fully control the lower limb, shank, for gait rehabilitation. The main challenge in control of the cable-driven parallel robot is to avoid negative cable tensions during dynamic motions. For this purpose a redundant robot with capability to exert a general wrench on the target limb with only positive cable tensions for all the poses of the limb near to the trajectory in the gait cycle is used. It is explained that the proposed robot can control both rotational and translational degree of freedom of the shank without slack cable conditions in the gait cycle. Then the dynamic model and control of the robot is proposed with a strategy to choose the forces of cables in order to avoid the negative tension. Examples of simulation are presented to demonstrate the capability of the robot in efficiently tracking the trajectory.
Starting Page	377
Ending Page	381
File Size	398048
Page Count	5
File Format	PDF
e-ISBN	9781467379717
DOI	10.1109/URAI.2015.7358914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-28
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Parallel robots Control Force Dynamics Cable-Driven Gait Rehabilitation Trajectory Nonlinear dynamical systems Parallel Robot
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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