Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation

This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion capture system was used to record the prescribed task performed by a healthy...

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Bibliographic Details
Published inApplied sciences Vol. 11; no. 12; p. 5635
Main Authors Ennaiem, Ferdaws, Chaker, Abdelbadiâ, Laribi, Med Amine, Sandoval, Juan, Bennour, Sami, Mlika, Abdelfattah, Romdhane, Lotfi, Zeghloul, Saïd
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.06.2021
Multidisciplinary digital publishing institute (MDPI)
Subjects
Bioengineering
Cables
Computer Aided Engineering
Computer Science
Design
Design optimization
End effectors
Life Sciences
mono-objective formulation
Motion capture
multiobjective formulation
Multiple objective analysis
Objective function
Optimization
optimization problem
planar CDPR
position control approach
prescribed task
Rehabilitation
Robotics
Robots
Stiffness
validated experimentally
optimization problem
multiobjective formulation
position control approach
monoobjective formulation
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Summary:This paper deals with the optimal design of a planar cable-driven parallel robot (CDPR), with three degrees of freedom, intended for assisting the patient’s affected upper limb along a prescribed movement. A Qualisys motion capture system was used to record the prescribed task performed by a healthy subject. For each pose taken by the center of mass of the end-effector, the cable tensions, the elastic stiffness and the dexterity were optimized while satisfying a set of constraints. First, a multiobjective formulation of the optimization problem was adopted. Since selecting a single solution among the multiple ones given by the Pareto front presents an issue, a mono-objective formulation was chosen, where the objective function was defined as a weighted sum of the chosen criteria. The appropriate values of the weighted coefficients were studied with the aim of identifying their influence on the optimization process and, thus, a judicious choice was made. A prototype of the optimal design of the CDPR was developed and validated experimentally on the prescribed workspace using the position control approach for the motors. The tests showed promising reliability of the proposed design for the task.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11125635