Dynamic modeling of a new over-actuated compliant joint mechanism for human limb rehabilitation
The paper focuses on the design and simulation of the 4-bar linkage mechanism (including human limb as a link) with a compliant joint over-actuated by multiple electroactive polymers (EAPs). Multiple EAPs with elastic elements compose the compliant joint, provide safety of the mechanism and 3 rotational degrees of freedom of the human joint depending on their connecting and acting modes․ The linkage mechanism introduced in this paper has the ad-vantage of mechanical and kinematic simplicity compared to the existing devices while at the same time it is fully capable of carrying out all the exercises required by a rehabilitation treatment. The analysis undergoing the optimal synthesis of the linkage mechanism leads towards the maximization of human joint rotation range, dexterity, torque output, ensures lightness and compactness of the device. The proposed device makes use of actuation redundancy to eliminate singularity, allows to operate with increased number of less powerful EAPs (compared to some types of permissible actuators, such as electromechanical, pneumatic artificial muscles) and greatly improves the workspace dexterity. Finally, the performance of the mechanism as a rehabilitation device of a hip joint is studied by using MSC ADAMS.
KeywordsRehabilitation device 4-bar linkage EAPs redundant actuation compliant joint dynamic modeling
Unable to display preview. Download preview PDF.
This work is supported by the grant 18T-2D236 of SSC, Armenia.
- 1.Zakaryan N., Harutyunyan M., Sarkissyan Y.: An optimal design of active orthosis with redundant composite polymer-metal controllable stiffness actuators, coll. works of XXIII international scientific and technical conference Mechanical Engineering and Technosphere of the XXI Century, Donetsk-Sevastopol, vol. 2.C. 181-184, 2016Google Scholar
- 2.Shukor A., Ali Ibrahim F., Miskon M., Saat M., Nor. M.: Musculoskeletal Robotics Modeling and Simulation. In: Sakim M., Mustafa H. (eds.) The 8th international Conference on Robotics, Vision, Signal Processing and Power Applications 2014, vol. xx, pp. 15-21. Springer (2014).Google Scholar
- 3.Ismail A. S., Said S., Baharin I.: Variable Twist Angle of Flexible Electromagnetic Hyper Redundant Robot, International Journal of Scientific & Engineering Research, vol. 4, pp. 30-35, May 2013.Google Scholar
- 5.Swevers J., Verdonck W., De Schutter J.: Dynamic model identification for industrial robots. IEEE Control Systems Magazine, pages 58–71, October 2007.Google Scholar
- 6.Jäntsch M., Wittmeier S., Dalamagkidis K., Knoll A.: Computed Muscle Control for an Anthropomimetic Elbow Joint. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, pages 2192–2197, Oct. 2012. doi: 10.1109/IROS. 2012.6385851.Google Scholar