Design and Research of the Wire - Driven Lumbar Parallel Rehabilitation Device

DOI

10.2991/mme-16.2017.56How to use a DOI?

Keywords

Wire-driven, Parallel rehabilitation device, Mechanical structure, Kinematics and dynamics analysis, Controlled driving system.

Abstract

In this paper, a new type of wire-driven lumbar parallel rehabilitation device is designed based on the wire-driven parallel robot to realize the purpose of rehabilitation training the lumbar of the patient. On the basis of designing the mechanical structure, the kinematics of the device is analysed by Newton iteration method and the dynamic equation is solved. The kinematic trajectory is simulated according to the data of the lumbar of the rehabilitation patient. Using fuzzy sliding mode control, the controller is designed to output the force and movement needed in the rehabilitation process to ensure the normal function of the lumbar function.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Ming-De Gong
AU  - Xiang-Fei Kong
PY  - 2016/12
DA  - 2016/12
TI  - Design and Research of the Wire - Driven Lumbar Parallel Rehabilitation Device
BT  - Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SP  - 409
EP  - 418
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.56
DO  - 10.2991/mme-16.2017.56
ID  - Gong2016/12
ER  -