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Commenced in January 2007 Frequency: Monthly Edition: International Publications Count: 29414

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Tracking Trajectory of a Cable-Driven Robot for Lower Limb Rehabilitation
This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.
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[1] A. Alamdari and V. Krovi, “Robotic physical exercise and system (ropes): a cable-driven robotic rehabilitation system for lower-extremity motor therapy,” in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE 2015, vol. 5A, Boston, Massachusetts, USA, August 2-5 2015.
[2] A. Pennycott, D. Wyss, H. Vallery, V. Klamroth-Marganska, and R. Riener, “Towards more effective robotic gait training for stroke rehabilitation: a review,” Journal of NeuroEngineering and Rehabilitation, vol. 9, no. 1, 2012.
[3] R. Gopura, D. Bandara, K. Kiguchi, and G. Mannc, “Developments in hardware systems of active upper-limb exoskeleton robots: A review r.a.r.c,” Robotics and Autonomous Systems, vol. 75, p. 203220, 2016.
[4] M. M. D. Azuwan and S.-I. Yamamoto, “Recent trends in lower-limb robotic rehabilitation orthosis:control scheme and strategy for pneumatic muscle actuated gait trainers,” Robotics, vol. 3, no. 2, p. 120148, 2014.
[5] L. Cai, A. Fong, C. Otoshi, Y. Liang, J. Cham, V. Zhong, R. Roy, V. Edgerton, and J.W.Burdick, “Effects of consistency variability in roboticallycontrolled training of stepping in adult spinal mice,” in 9th International Conference on Rehabilitation Robotics, 2005, pp. 575 – 579.
[6] D. Zanotto, P. Stegall, and S. Agrawal, “Alex iii: A novel roboticplatform with 12 dofs for human gait training,” in International Conference on Robotics and Automation, 2013, pp. 3914 – 3919.
[7] J. Xin, Xiang, and S. K. Agrawal, “Design of a cable-driven active leg exoskeleton (c-alex) and gait training experiments with human subjects,” in 2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington. IEEE, 2015.
[8] J. Meuleman, H. F. E. V. Asseldonk, and H. V. D. Kooij, “Novel actuation design of a gait trainer with shadow leg approach,” in International Conference on Rehabilitation Robotics, 2013, pp. 1–8.
[9] J. Bryson and S. K. Agrawal, “Methodology to identify and analyze optimal cable configurations in the design of cable-driven serial manipulators,” in ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2013.
[10] J. Merlet, “Kinematics of the wire-driven parallel robot marionet using linear actuators.” IEEE International Conference on Robotics and Automation, 2008.
[11] S. Rezazadeh and S. Behzadipour, “Workspace analysis of multibody cable-driven mechanisms,” in Journal of Mechanisms and Robotics. ASME, 2011.
[12] C. Gosselin and M. Grenier, “On the determination of the force distribution in overconstrained cable-driven parallel mechanisms,” in Meccanica, vol. 46, 2011, pp. 3–15.
[13] D. Winter, Biomechanicsandmotorcontrolofhumanmovement, J. W. Sons, Ed., 2009.
[14] J. J. Craig, Introduction to Robotics Mechanics and control,third edition, Pearson Prentice Hall. Pearson Education International, 2005.
[15] F. Lewis, C. Abdallah, and D.Dawson, Robot Manipulator Control: theory and practice. Marcel Dekker, 2004.
[16] B. Siciliano and L. Villani, Robot force control. Kluwer Academic, 1999.
[17] H. Wang, X. Shi, H. Liu, L. Li, Z. Hou, and H. Yu, “Design, kinematics, simulation, and experiment for a lower-limb rehabilitation robot,” in Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering., 2011.
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