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Wrench Feasibility Workspace Analysis and Adaptive Rotation Algorithm of Cable-Driven Upper Limb Rehabilitation Robot

Published: 06 March 2024 Publication History

Abstract

Cable-driven rehabilitation robot is an important branch of cable-driven parallel robots (CDPRs). The ability of CDPRs to generate wrench determines their performance in task execution, and some CDPRs employ reconfigurable structures to enhance their wrench capabilities. This paper proposes a cable-driven 4- degrees of freedom (DOF) upper limb rehabilitation robot with an adaptive dynamic structure (DAS) to alter the distribution of cable attachment points (CAPs). Then the available wrench set (AWS) and wrench feasibility workspace (WFW) of the robot are analysed. Furthermore, an adaptive rotation algorithm based on Bayesian optimization is proposed to adjust the rotation angle of the DAS. Thereby modifying the distribution of the CAPs, and significantly improving the WFW of robot. Examples of simulation are presented to demonstrate the effectiveness of the adaptive rotation algorithm in increasing the robot's WFW.

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ICRAI '23: Proceedings of the 2023 9th International Conference on Robotics and Artificial Intelligence
November 2023
72 pages
ISBN:9798400708282
DOI:10.1145/3637843
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 06 March 2024

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Author Tags

  1. Bayesian optimization
  2. Cable-driven robot
  3. Rehabilitation robotic
  4. Wrench feasibility workspace

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  • Research-article
  • Research
  • Refereed limited

Funding Sources

  • Basic Research Program of Shenzhen
  • National Basic Research Priorities Program of China
  • Jiangsu Province Key Research and Development Program

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ICRAI 2023

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