Journal of Bionic Engineering ›› 2022, Vol. 19 ›› Issue (2): 390-402.doi: 10.1007/s42235-022-00162-8
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Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation
Ferdaws Ennaiem1,2, Abdelbadiâ Chaker2, Juan Sandoval1, Sami Bennour2, Abdelfattah Mlika2, Lotf Romdhane2,3, Saïd Zeghloul1, Med Amine Laribi1
- 1 Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France 2 Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000 Sousse, Tunisia 3 American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates
Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation
Ferdaws Ennaiem1,2, Abdelbadiâ Chaker2, Juan Sandoval1, Sami Bennour2, Abdelfattah Mlika2, Lotf Romdhane2,3, Saïd Zeghloul1, Med Amine Laribi1
- 1 Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France 2 Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000 Sousse, Tunisia 3 American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates
摘要： An assessment of the human motion repeatability for three selected Activities of Daily Living (ADL) is performed in this paper. These exercises were prescribed by an occupational therapist for the upper limb rehabilitation. The movement patterns of five participants, recorded using a Qualisys motion capture system, are compared based on the Analysis of Variance (ANOVA) method. This survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation, which is able to reproduce the three selected exercises. This comparison is performed to justify, whether or not, there is enough similarity between the participants’ gestures, and so a single reference trajectory can be adopted as the robot-prescribed workspace. Using the results of the comparative study, an optimization process of the sought robot design is carried out, where the structure size and the cable tensions simultaneously minimized.