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Dynamics and Control of Multibody Cable-Driven Mechanisms with Application in Rehabilitation Robotics Open Access


Other title
rehabilitation robotics
Type of item
Degree grantor
University of Alberta
Author or creator
Rezazadeh, Siavash
Supervisor and department
Hahn, Jin-Oh (Mechanical Engineering)
Examining committee member and department
Raboud, Donald (Mechanical Engineering)
Toogood, Roger (Mechanical Engineering)
Khajepour, Amir (Mechanical and Mechatronics Engineering, University of Waterloo)
Tavakoli, Mahdi (Electrical and Computer Engineering)
Hahn, Jin-Oh (Mechanical Engineering)
Department of Mechanical Engineering

Date accepted
Graduation date
Doctor of Philosophy
Degree level
With increasing demand for physical therapy in recent years, robotic systems have been proved to have great potential in improving the level of the delivered rehabilitation services both in quality and quantity and also providing huge savings in labor costs of. In this project a new cable-driven robotic cell for rehabilitation of human limbs is proposed and developed. This system has several advantages over the commercialized therapy robots, including reconfigurability and ability of handling redundancies. In this framework, the first challenge is to determine the number and configuration of the cables which guarantee the equilibrium of the system against an arbitrary force. The necessary and sufficient number of cables for single rigid body systems is well-known in the literature. However, since the human arm is a multibody system, a new theory was developed to determine the minimum total number of cables for a multibody as well as their possible distributions among the links of the multibody. In the second step, a method was proposed to obtain the boundaries of the workspace of the robot by Lagrangian formulation of dynamics of the multibody. Having the workspace, the final part of the thesis is on designing the control loop and its real-time implementation on a mechanical model of the human upper extremity. The control logic was designed in two levels: position control and compliance control. Position control is utilized for following a specified trajectory (representing an exercise for the patient's arm), while compliance control provides flexibility for deviating from that trajectory. The compliance control method used is impedance control in which the robot acts similar to a mass-spring-damper system. To achieve the exact stiffness required by impedance control, the inherent stiffness of the cable robot is formulated and taken into account by extending the theories proposed in the literature for stiffness of rigid-body cable robots for multibodies. Using impedance control enables us to perform different scenarios for training including teaching/playback and assistive/resistive exercising. The experimental results prove the effectiveness of the theories developed for dynamics and control of the multibody cable-driven robots.
Permission is hereby granted to the University of Alberta Libraries to reproduce single copies of this thesis and to lend or sell such copies for private, scholarly or scientific research purposes only. Where the thesis is converted to, or otherwise made available in digital form, the University of Alberta will advise potential users of the thesis of these terms. The author reserves all other publication and other rights in association with the copyright in the thesis and, except as herein before provided, neither the thesis nor any substantial portion thereof may be printed or otherwise reproduced in any material form whatsoever without the author's prior written permission.
Citation for previous publication
Rezazadeh, Siavash and Behzadipour, Saeed (2011), “Workspace Analysis of Multibody Cable-Driven Mechanisms”, ASME Journal of Mechanisms and Robotics, Vol. 3, No. 2, Art. No. 021005

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