Design and analysis of a compliant elbow-joint for arm rehabilitation robot

Jianbin Zhang; Xiaofeng Li; Jingmeng Liu; Weihai Chen

doi:10.1109/ICIEA.2018.8398097

Design and analysis of a compliant elbow-joint for arm rehabilitation robot

Jianbin Zhang
, Xiaofeng Li^*
, Jingmeng Liu
, Weihai Chen

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

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

11 Scopus citations

Abstract

Rehabilitation robot aided sensorimotor training positively affects the reduction of impairment in patients. Due to the complexity of the physical structure of the upper limb of the human body, the joints of the robot are difficult to be aligned with the human joints in real time. This situation may cause pain or harm to the patient. Nowadays, more and more rehabilitation robots aim at clinical requirements such as being lightweight and the friendly interaction between robot and patient. So in this paper, we present the design and analysis of a compliant elbow-joint for arm rehabilitation robot which focuses on human-robot interaction. Firstly, a cable-driven arm rehabilitation robot is designed for the shoulder and elbow rehabilitation, which has the property of lightweight and flexibility. Secondly, an axis-adjustable elbow joint is designed to achieve real-time alignment with the skeletal elbow joint using a set of compliant mechanisms. Finally, the simulation results of the compliant elbow-joint can prove the design has a more friendly human-robot interaction.

Original language	English
Title of host publication	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2321-2326
Number of pages	6
ISBN (Electronic)	9781538637579
DOIs	https://doi.org/10.1109/ICIEA.2018.8398097
State	Published - 26 Jun 2018
Event	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, China Duration: 31 May 2018 → 2 Jun 2018

Publication series

Name	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Conference

Conference	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Country/Territory	China
City	Wuhan
Period	31/05/18 → 2/06/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

compliant joint
friendly interaction
rehabilitation robot

Access to Document

10.1109/ICIEA.2018.8398097

Cite this

Zhang, J., Li, X., Liu, J., & Chen, W. (2018). Design and analysis of a compliant elbow-joint for arm rehabilitation robot. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (pp. 2321-2326). (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2018.8398097

Zhang, Jianbin ; Li, Xiaofeng ; Liu, Jingmeng et al. / Design and analysis of a compliant elbow-joint for arm rehabilitation robot. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2321-2326 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

@inproceedings{eb5d7444b1ce4394afc0faf142fda947,

title = "Design and analysis of a compliant elbow-joint for arm rehabilitation robot",

abstract = "Rehabilitation robot aided sensorimotor training positively affects the reduction of impairment in patients. Due to the complexity of the physical structure of the upper limb of the human body, the joints of the robot are difficult to be aligned with the human joints in real time. This situation may cause pain or harm to the patient. Nowadays, more and more rehabilitation robots aim at clinical requirements such as being lightweight and the friendly interaction between robot and patient. So in this paper, we present the design and analysis of a compliant elbow-joint for arm rehabilitation robot which focuses on human-robot interaction. Firstly, a cable-driven arm rehabilitation robot is designed for the shoulder and elbow rehabilitation, which has the property of lightweight and flexibility. Secondly, an axis-adjustable elbow joint is designed to achieve real-time alignment with the skeletal elbow joint using a set of compliant mechanisms. Finally, the simulation results of the compliant elbow-joint can prove the design has a more friendly human-robot interaction.",

keywords = "compliant joint, friendly interaction, rehabilitation robot",

author = "Jianbin Zhang and Xiaofeng Li and Jingmeng Liu and Weihai Chen",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 ; Conference date: 31-05-2018 Through 02-06-2018",

year = "2018",

month = jun,

day = "26",

doi = "10.1109/ICIEA.2018.8398097",

language = "英语",

series = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

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address = "美国",

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Zhang, J, Li, X, Liu, J & Chen, W 2018, Design and analysis of a compliant elbow-joint for arm rehabilitation robot. in Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 2321-2326, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, China, 31/05/18. https://doi.org/10.1109/ICIEA.2018.8398097

Design and analysis of a compliant elbow-joint for arm rehabilitation robot. / Zhang, Jianbin; Li, Xiaofeng; Liu, Jingmeng et al.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2321-2326 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

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

TY - GEN

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AU - Li, Xiaofeng

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AU - Chen, Weihai

PY - 2018/6/26

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N2 - Rehabilitation robot aided sensorimotor training positively affects the reduction of impairment in patients. Due to the complexity of the physical structure of the upper limb of the human body, the joints of the robot are difficult to be aligned with the human joints in real time. This situation may cause pain or harm to the patient. Nowadays, more and more rehabilitation robots aim at clinical requirements such as being lightweight and the friendly interaction between robot and patient. So in this paper, we present the design and analysis of a compliant elbow-joint for arm rehabilitation robot which focuses on human-robot interaction. Firstly, a cable-driven arm rehabilitation robot is designed for the shoulder and elbow rehabilitation, which has the property of lightweight and flexibility. Secondly, an axis-adjustable elbow joint is designed to achieve real-time alignment with the skeletal elbow joint using a set of compliant mechanisms. Finally, the simulation results of the compliant elbow-joint can prove the design has a more friendly human-robot interaction.

AB - Rehabilitation robot aided sensorimotor training positively affects the reduction of impairment in patients. Due to the complexity of the physical structure of the upper limb of the human body, the joints of the robot are difficult to be aligned with the human joints in real time. This situation may cause pain or harm to the patient. Nowadays, more and more rehabilitation robots aim at clinical requirements such as being lightweight and the friendly interaction between robot and patient. So in this paper, we present the design and analysis of a compliant elbow-joint for arm rehabilitation robot which focuses on human-robot interaction. Firstly, a cable-driven arm rehabilitation robot is designed for the shoulder and elbow rehabilitation, which has the property of lightweight and flexibility. Secondly, an axis-adjustable elbow joint is designed to achieve real-time alignment with the skeletal elbow joint using a set of compliant mechanisms. Finally, the simulation results of the compliant elbow-joint can prove the design has a more friendly human-robot interaction.

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KW - friendly interaction

KW - rehabilitation robot

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Zhang J, Li X, Liu J, Chen W. Design and analysis of a compliant elbow-joint for arm rehabilitation robot. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2321-2326. (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). doi: 10.1109/ICIEA.2018.8398097

Design and analysis of a compliant elbow-joint for arm rehabilitation robot

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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