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Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation

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Abstract

An assessment of the human motion repeatability for three selected Activities of Daily Living (ADL) is performed in this paper. These exercises were prescribed by an occupational therapist for the upper limb rehabilitation. The movement patterns of five participants, recorded using a Qualisys motion capture system, are compared based on the Analysis of Variance (ANOVA) method. This survey is motivated by the need to find the appropriate task workspace of a 6-degrees of freedom cable-driven parallel robot for upper limb rehabilitation, which is able to reproduce the three selected exercises. This comparison is performed to justify, whether or not, there is enough similarity between the participants’ gestures, and so a single reference trajectory can be adopted as the robot-prescribed workspace. Using the results of the comparative study, an optimization process of the sought robot design is carried out, where the structure size and the cable tensions simultaneously minimized.

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Acknowledgements

This work is supported by the “PHC Utique” program of the French Ministry of Foreign Affairs and Ministry of Higher Education, Research and Innovation and the Tunisian Ministry of Higher Education and Scientific Research. P. n° 19G1121. The authors would also like to thank the support of the Erasmus+ KA-107 program.

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Authors and Affiliations

  1. Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, Poitiers, France

    Ferdaws Ennaiem, Juan Sandoval, Saïd Zeghloul & Med Amine Laribi

  2. Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000, Sousse, Tunisia

    Ferdaws Ennaiem, Abdelbadiâ Chaker, Sami Bennour, Abdelfattah Mlika & Lotfi Romdhane

  3. American University of Sharjah, PO Box 26666, Sharjah, United Arab Emirates

    Lotfi Romdhane

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  1. Ferdaws Ennaiem
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  2. Abdelbadiâ Chaker
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  3. Juan Sandoval
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  7. Saïd Zeghloul
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Correspondence to Ferdaws Ennaiem.

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Ennaiem, F., Chaker, A., Sandoval, J. et al. Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation. J Bionic Eng 19, 390–402 (2022). https://doi.org/10.1007/s42235-022-00162-8

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  • DOI: https://doi.org/10.1007/s42235-022-00162-8

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