Paper Info
Title
Stiffness Analysis Of A Cable-Driven Wrist Robotic Rehabilitor
Abstract
In this paper, the static stiffness of cable-driven wrist robotic rehabilitor(CDWRR) in its whole workspace is analyzed. A total stiffness matrix of this device consists of the exoskeleton stiffness model and the human arm stiffness model, which is obtained by using an equivalent stiffness model of exoskeleton and assuming a series of simplification of human arm. The analysis on stiffness was made with the MATLAB simulation results. Herein, the stiffness performance of the device during rehabilitation training was elucidated by the average stiffness index, stabilizability and relative stabilizability. Results show that the exoskeleton just has a great impact on the rotational stiffness. And the stiffness of cables plays a key role in the exoskeleton stiffness model and its relative stabilizability. Since the stiffness is associated with safety and comfort of rehabilitation training, it is essential to analyze the stiffness of rehabilitation device. Also, the analysis process of this paper can be referred by other similar cable-driven rehabilitors.
Year
Venue
Keywords
2016
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)
Stiffness, Cable-driven wrist robotic rehabilitor, workspace, Relative stabilizability
Field
DocType
ISSN
Wrist,Human arm,Computer science,Stiffness,Workspace,Control theory,Control engineering,Exoskeleton,Stiffness matrix,Robot,Structural engineering,Matlab simulation
Conference
2474-2953
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Zhongyi Li142.78
Chen Weihai219038.21
Jianbin Zhang300.34
Shaoping Bai47417.53