Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Applied Sciences Année : 2021

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

Résumé

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.
Fichier principal
Vignette du fichier
applsci-11-05635-v2.pdf (9.54 Mo) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte

Dates et versions

hal-04213815 , version 1 (21-09-2023)

Licence

Paternité

Identifiants

Citer

Ferdaws Ennaiem, Abdelbadiâ Chaker, Med Amine Laribi, Juan Sandoval, Sami Bennour, et al.. Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation. Applied Sciences, 2021, 11 (12), pp.5635. ⟨10.3390/app11125635⟩. ⟨hal-04213815⟩
6 Consultations
7 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More