Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot
Author:
Vargas-Riaño Julio1ORCID, Agudelo-Varela Óscar2ORCID, Valera Ángel1ORCID
Affiliation:
1. Instituto Universitario de Automática e Informática Industrial (Instituto ai2), Universitat Politècnica de València, 46022 Valencia, Spain 2. Facultad de Ciencias Básicas e Ingeniería, Universidad de los Llanos, Villavicencio 500002, Colombia
Abstract
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.
Funder
Colciencias-Colfuturo PhD Scholarships Program Educational Credit Forgivable Agencia Estatal de Investigación (Ministerio de Ciencia e Innovación, Spanish Government) and Fondo Europeo de Desarrollo Regional
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering
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