Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation

Xuejun Jin; Dae Ik Jun; Xuemei Jin; Sukho Park; Jong Oh Park; Seong Young Ko

doi:10.1109/ICCAS.2014.6988021

Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation

Xuejun Jin, Dae Ik Jun, Xuemei Jin, Sukho Park, Jong Oh Park, Seong Young Ko

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot's malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.

Original language	English
Title of host publication	International Conference on Control, Automation and Systems
Publisher	IEEE Computer Society
Pages	352-356
Number of pages	5
ISBN (Electronic)	9788993215069
DOIs	https://doi.org/10.1109/ICCAS.2014.6988021
State	Published - 16 Dec 2014
Event	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014 - Gyeonggi-do, Korea, Republic of Duration: 22 Oct 2014 → 25 Oct 2014

Publication series

Name	International Conference on Control, Automation and Systems
ISSN (Print)	1598-7833

Conference

Conference	2014 14th International Conference on Control, Automation and Systems, ICCAS 2014
Country/Territory	Korea, Republic of
City	Gyeonggi-do
Period	22/10/14 → 25/10/14

Bibliographical note

Publisher Copyright:
© 2014 Institute of Control, Robotics and Systems (ICROS).

Keywords

Cable-driven parallel robot
Upper limb rehabilitation
Workspace analysis

Access to Document

10.1109/ICCAS.2014.6988021

Cite this

Jin, X., Jun, D. I., Jin, X., Park, S., Park, J. O., & Ko, S. Y. (2014). Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation. In International Conference on Control, Automation and Systems (pp. 352-356). Article 6988021 (International Conference on Control, Automation and Systems). IEEE Computer Society. https://doi.org/10.1109/ICCAS.2014.6988021

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title = "Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation",

abstract = "Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot's malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.",

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Jin, X, Jun, DI, Jin, X, Park, S, Park, JO & Ko, SY 2014, Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation. in International Conference on Control, Automation and Systems., 6988021, International Conference on Control, Automation and Systems, IEEE Computer Society, pp. 352-356, 2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, Gyeonggi-do, Korea, Republic of, 22/10/14. https://doi.org/10.1109/ICCAS.2014.6988021

Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation. / Jin, Xuejun; Jun, Dae Ik; Jin, Xuemei et al.
International Conference on Control, Automation and Systems. IEEE Computer Society, 2014. p. 352-356 6988021 (International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Jin, Xuemei

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AU - Ko, Seong Young

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AB - Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot's malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.

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Workspace analysis of upper limb for a planar cable-driven parallel robots toward upper limb rehabilitation

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Keywords

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