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Using Screw Theory for the Kinematics and Statics Design of the Turmell-Bot: a Cable-Driven, Reconfigurable and Compliant Ankle Rehabilitation Parallel Robot
Vargas-Riaño, J.; Agudelo-Varela, Ó.; Valera, Á. Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot. Robotics2023, 12, 154.
Vargas-Riaño, J.; Agudelo-Varela, Ó.; Valera, Á. Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot. Robotics 2023, 12, 154.
Vargas-Riaño, J.; Agudelo-Varela, Ó.; Valera, Á. Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot. Robotics2023, 12, 154.
Vargas-Riaño, J.; Agudelo-Varela, Ó.; Valera, Á. Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot. Robotics 2023, 12, 154.
Abstract
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present cable-driven reconfigurable robot kinematics and statics. We studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Likewise, we propose a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporate a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We reconfigure the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Likewise, we also computed the workspace to show that the reconfigurable design fits several sizes. The data used is from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators.
Keywords
medical and rehabilitation robotics; biomechanics; parallel manipulator; cable-driven; kinematic analysis; robot design; mechanism synthesis; compliant mechanism
Subject
Computer Science and Mathematics, Robotics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
