A Series-elastic Robot for Back-pain Rehabilitation

This paper addresses the robot-assisted rehabilitation of back pain, an epidemic health problem affecting a large portion of the population. The design is composed of two springs in series connected to an end-effector via a pair of antagonistic cables. The spring and cable arrangement forms an elast...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2021, Automation, and Systems, 19(2), , pp.1054-1064
Main Authors: Shata, ElHussein, Nguyen, Kim-Doang, Acharya, Praneel, Doom, Jeffrey
Format: Article
Language:English
Subjects:
Actuators
Cables
Control
Dynamic characteristics
End effectors
Engineering
Human engineering
Mechatronics
Pain
Regular Papers
Rehabilitation
Rehabilitation robots
Robot arms
Robotics
Robots
Springs (elastic)
Stiffness
Torque
제어계측공학
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Summary:This paper addresses the robot-assisted rehabilitation of back pain, an epidemic health problem affecting a large portion of the population. The design is composed of two springs in series connected to an end-effector via a pair of antagonistic cables. The spring and cable arrangement forms an elastic coupling from the actuator to the output shaft. An input-output torque model of the series-elastic mechanism is established and studied numerically. The study also illustrates the variation of the mechanism’s effective stiffness by changing the springs’ position. In addition, we built a prototype of the robotic mechanism and design experiments with a robotic manipulator to experimentally investigate its dynamic characteristics. The experimental results confirm the predicted elasticity between the input motion and the output torque at the end-effector. We also observe an agreement between the data generated by the torque model and data collected from the experiments. An experiment with a full-scale robot and a human subject is carried out to investigate the human-robot interaction and the mechanism behavior.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-019-0859-x