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Sensors 2016, 16(12), 2121;

Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot

School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China
Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada
Author to whom correspondence should be addressed.
Academic Editor: Simon X. Yang
Received: 2 September 2016 / Revised: 21 November 2016 / Accepted: 6 December 2016 / Published: 14 December 2016
(This article belongs to the Special Issue Advanced Robotics and Mechatronics Devices)
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In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators’ driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, flexible, and well-adapted. A variety of sensors are chosen to measure the position and orientation of the recovery patient to ensure patient safety at the same time as the structure design. According to the structure specialty and function, the HWRR is divided into two independent parallel robots: the waist twist device and the lower limb traction device. Then these two devices are analyzed and evaluated, respectively. Considering the characters of the human body in the HWRR, the inverse kinematics and statics are studied when the waist and the lower limb are considered as a spring and link, respectively. Based on the inverse kinematics and statics, the effect of the contraction parameter of the PAM is considered in the optimization of the waist twist device, and the lower limb traction device is optimized using particle swarm optimization (PSO) to minimize the global conditioning number over the feasible workspace. As a result of the optimization, an optimal rehabilitation robot design is obtained and the condition number of the Jacobian matrix over the feasible workspace is also calculated. View Full-Text
Keywords: waist rehabilitation robot; hybrid-driven; inverse kinematics and statics; optimization waist rehabilitation robot; hybrid-driven; inverse kinematics and statics; optimization

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Zi, B.; Yin, G.; Zhang, D. Design and Optimization of a Hybrid-Driven Waist Rehabilitation Robot. Sensors 2016, 16, 2121.

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