Zhang, M, Cao, J, Zhu, G et al. (3 more authors) (2017) Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR). Robotics and Autonomous Systems, 98. pp. 213-221. ISSN 0921-8890
Abstract
The novelty of this paper is the adjustable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR). The robot has three rotational degrees of freedom (DOFs) redundantly actuated by four compliant actuators. It suffers from conflicting workspace and actuation torque due to the use of a parallel mechanism and compliant actuators. To address this issue, also considering physical constraints imposed by human users, the CARR is designed with reconfigurability to make a trade-off between workspace and torque capacity for meeting different training requirements. Theoretical analysis indicates that varying kinematic and dynamic performance of the robot can be achieved by reconfiguring the layout of the actuators. Experiments with/without load also demonstrate the validity of the reconfigurable robotic design for practical applications.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | (c) 2017, Published by Elsevier B.V. This is an author produced version of a paper published in Robotics and Autonomous Systems. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Ankle robot; Compliant; Reconfigurable; Workspace; Torque capacity; Rehabilitation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Funding Information: | Funder Grant number EPSRC GCRF_IS_2017 |
Depositing User: | Symplectic Publications |
Date Deposited: | 23 Nov 2017 15:41 |
Last Modified: | 30 Jun 2018 00:39 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.robot.2017.06.006 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:124375 |