Abstract:
In this paper, the static stiffness of cable-driven wrist robotic rehabilitor (CDWRR) in its whole workspace is analyzed. A total stiffness matrix of this device consists...Show MoreMetadata
Abstract:
In this paper, the static stiffness of cable-driven wrist robotic rehabilitor (CDWRR) in its whole workspace is analyzed. A total stiffness matrix of this device consists of the exoskeleton stiffness model and the human arm stiffness model, which is obtained by using an equivalent stiffness model of exoskeleton and assuming a series of simplification of human arm. The analysis on stiffness was made with the MATLAB simulation results. Herein, the stiffness performance of the device during rehabilitation training was elucidated by the average stiffness index, stabilizability and relative stabilizability. Results show that the exoskeleton just has a great impact on the rotational stiffness. And the stiffness of cables plays a key role in the exoskeleton stiffness model and its relative stabilizability. Since the stiffness is associated with safety and comfort of rehabilitation training, it is essential to analyze the stiffness of rehabilitation device. Also, the analysis process of this paper can be referred by other similar cable-driven rehabilitors.
Published in: 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)
Date of Conference: 13-15 November 2016
Date Added to IEEE Xplore: 02 February 2017
ISBN Information: