Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation
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...
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| مؤلفون آخرون: | , , , , , , |
| التنسيق: | article |
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2021
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| الوصول للمادة أونلاين: | http://hdl.handle.net/11073/23917 |
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| _version_ | 1864513443806052352 |
|---|---|
| author | Ennaiem, Ferdaws |
| author2 | Chaker, Abdelbadia Laribi, Med Amine Sandoval, Juan Bennour, Sami Mlika, Abdelfattah Romdhane, Lotfi Zeghloul, Saïd |
| author2_role | author author author author author author author |
| author_facet | Ennaiem, Ferdaws Chaker, Abdelbadia Laribi, Med Amine Sandoval, Juan Bennour, Sami Mlika, Abdelfattah Romdhane, Lotfi Zeghloul, Saïd |
| author_role | author |
| dc.creator.none.fl_str_mv | Ennaiem, Ferdaws Chaker, Abdelbadia Laribi, Med Amine Sandoval, Juan Bennour, Sami Mlika, Abdelfattah Romdhane, Lotfi Zeghloul, Saïd |
| dc.date.none.fl_str_mv | 2021 2022-06-08T05:47:46Z 2022-06-08T05:47:46Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | Ennaiem, F.; Chaker, A.; Laribi, M.A.; Sandoval, J.; Bennour, S.; Mlika, A.; Romdhane, L.; Zeghloul, S. Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation. Appl. Sci. 2021, 11, 5635. https://doi.org/10.3390/app11125635. [Comment: This article belongs to the Special Issue Innovative Robot Designs and Approaches] 2076-3417 http://hdl.handle.net/11073/23917 10.3390/app11125635 |
| dc.language.none.fl_str_mv | en_US |
| dc.publisher.none.fl_str_mv | MDPI |
| dc.relation.none.fl_str_mv | https://doi.org/10.3390/app11125635 |
| dc.subject.none.fl_str_mv | Planar CDPR Prescribed task Optimization problem Multiobjective formulation Mono-objective formulation Position control approach Validated experimentally |
| dc.title.none.fl_str_mv | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| dc.type.none.fl_str_mv | Peer-Reviewed Published version info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | 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. |
| format | article |
| id | aus_9c59b7906e75b60a06039cdae4c08beb |
| identifier_str_mv | Ennaiem, F.; Chaker, A.; Laribi, M.A.; Sandoval, J.; Bennour, S.; Mlika, A.; Romdhane, L.; Zeghloul, S. Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation. Appl. Sci. 2021, 11, 5635. https://doi.org/10.3390/app11125635. [Comment: This article belongs to the Special Issue Innovative Robot Designs and Approaches] 2076-3417 10.3390/app11125635 |
| language_invalid_str_mv | en_US |
| network_acronym_str | aus |
| network_name_str | aus |
| oai_identifier_str | oai:repository.aus.edu:11073/23917 |
| publishDate | 2021 |
| publisher.none.fl_str_mv | MDPI |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb RehabilitationEnnaiem, FerdawsChaker, AbdelbadiaLaribi, Med AmineSandoval, JuanBennour, SamiMlika, AbdelfattahRomdhane, LotfiZeghloul, SaïdPlanar CDPRPrescribed taskOptimization problemMultiobjective formulationMono-objective formulationPosition control approachValidated experimentallyThis 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.PHC Utique program of the French Ministry of Foreign Affairs and Ministry of higher education, research and innovationTunisian Ministry of higher education and scientific research in the CMCUMDPI2022-06-08T05:47:46Z2022-06-08T05:47:46Z2021Peer-ReviewedPublished versioninfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfEnnaiem, F.; Chaker, A.; Laribi, M.A.; Sandoval, J.; Bennour, S.; Mlika, A.; Romdhane, L.; Zeghloul, S. Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation. Appl. Sci. 2021, 11, 5635. https://doi.org/10.3390/app11125635. [Comment: This article belongs to the Special Issue Innovative Robot Designs and Approaches]2076-3417http://hdl.handle.net/11073/2391710.3390/app11125635en_UShttps://doi.org/10.3390/app11125635oai:repository.aus.edu:11073/239172024-08-22T12:09:29Z |
| spellingShingle | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation Ennaiem, Ferdaws Planar CDPR Prescribed task Optimization problem Multiobjective formulation Mono-objective formulation Position control approach Validated experimentally |
| status_str | publishedVersion |
| title | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| title_full | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| title_fullStr | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| title_full_unstemmed | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| title_short | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| title_sort | Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation |
| topic | Planar CDPR Prescribed task Optimization problem Multiobjective formulation Mono-objective formulation Position control approach Validated experimentally |
| url | http://hdl.handle.net/11073/23917 |