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ADVANCED INTELLIGENT SYSTEMS 2025年第4期7卷

作者： Zheng, Jianlin Li, Zhijun Xu, Ting Song, Rong Sun Yat Sen Univ Sch Biomed Engn Shenzhen Campus Shenzhen 518107 Peoples R China Tongji Univ Sch Mech Engn Shanghai 201210 Peoples R China Sun Yat Sen Univ Shenzhen Res Inst Shenzhen 518107 Peoples R China

Electromyographic (EMG)-based admittance control by arm force can provide continuous motion control in robot-assisted rehabilitation. Natural and complex physical human-robot interactions utilizing intelligent EMG-based interfaces require a computational estimation model for 3D voluntary forces. Existing computational models infrequently directly encode the interconnections among the spatial-dimensional components of 3D arm forces and experience performance degradation caused by confounding variables like muscle fatigue in EMG-based control. Motivated by this challenge, a computational model is proposed using the Gaussian mixture model (GMM), which only requires a user-friendly calibration by an incremental GMM approach to reduce the effect of muscle fatigue. GMM aims to encode the multivariable connection between EMG and voluntary force by joint probability density distribution. The EMG-based control system retrieves the estimated voluntary forces given EMG from GMM by utilizing the Gaussian mixture regression. Herein, the performance of the proposed EMG-based admittance control is tested using GMM by trajectory-tracking experiments before and after the fatigue-inducing experiment. The experiments include eight healthy participants. The experimental outcomes prove that the EMG-based control using calibrated GMM shows an increase of 23.66% and 8.17% in tracking precision and motion compliance, showing potential application across diverse domains involving physical human-robot interactions. Natural physical human-robot interactions based on electromyographic (EMG) necessitate a computational model for 3D voluntary forces. The study proposes an admittance control strategy with an intelligent EMG-based interface utilizing the Gaussian mixture model and incremental learning-based calibration. Experimental results show that this approach can facilitate active continuous motion control and mitigate the effect of muscle *** (c) 2024 WILEY-VCH GmbH

关键词： cable-driven robot electromyographic-based control Gaussian mixture model robot-assisted rehabilitation

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Comparison of theoretical and experimental models for knee flexion/extension using a cable-driven robot

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robotICA 2023年第5期41卷 1617-1633页

作者： Goncalves, Rogerio S. Kaufmann, Yasmin V. Univ Fed Uberlandia Sch Mech Engn Uberlandia Brazil

To support and facilitate the rehabilitation of patients with physical limitations and aid the therapist, several robotic structures are being studied. Among the structures, the cable-driven robots stand out. The cable-driven robots are structures actuated by cables and have the advantages of being flexible and reconfigurable for each patient. The objective of this paper is to develop a theoretical model for knee flexion/extension force and moment using a cable-driven robot. The proposed model is necessary for elaborating a referential to which diagnosis can be made and the improvement of the patient evaluated. The presented theoretical model was validated through experiments with twelve sedentary and healthy volunteers. The first procedure tested ten subjects in three thigh angles for knee flexion motion;the second procedure tested two subjects in flexion and extension for the same thigh angle. The results show the validity of the model for 88.58% of the tests in an ANOVA analysis with a 99% confidence interval. The similarity of data for different gender, ages, and intrinsic factors was noted, implying that the model is representative and independent of the subject's individuality. Differences between flexion and extension values were observed, which need to be studied in the future.

关键词： robotics mechatronic systems rehabilitation cable-driven robot knee

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Predictive equation for a circular trajectory period in a cable-driven robot for rehabilitation

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JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING 2020年第6期42卷 1-11页

作者： Alves, Thiago Goncalves, Rogerio S. Univ Fed Uberlandia BR-2121 Uberlandia MG Brazil

Rehabilitation training is the most effective way to reduce motor impairments in stroke patients, and cable-driven robots can be an efficient way to increase the intensity of this training. The motor functions of stroke patients are often related and evaluated using circle drawing/tracing tasks as studies show that these patients produce elliptical instead of circular shapes. Training can increase the hemiparetic arm workspace and the performance of circular design in these patients. Thus, this paper presents a robot actuated by cables that can be used in rehabilitation producing circular trajectories. First, the circular trajectory and mathematical model to keep the cables in tension are presented. Next, a serious game is described that uses the circular trajectory for stroke rehabilitation. The results showed that the predictive equation proposed in the present paper represented the experimental data with an average relative error of only 1%. Finally, an optimization was performed to obtain the shortest period of a circular trajectory.

关键词： cable-driven robot Circular trajectory Similitude Stroke

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Measurement of End-effector Pose Errors and the cable Profile of cable-driven robot using Monocular Camera

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JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2021年第2期103卷 1-20页

作者： Boby, Riby Abraham Maloletov, Alexander Klimchik, Alexandr Innopolis Univ Russia Ctr Robot & Mechatron Components Innopolis Russia

Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region.

关键词： robot vision systems cable-driven robot cable modeling Performance measurement Repeatability Accuracy

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A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

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AUTONOMOUS robotS 2017年第7期41卷 1487-1499页

作者： Pinto, Andry Maykol Moreira, Eduardo Lima, Jose Sousa, Jose Pedro Costa, Pedro INESC TEC Oporto Portugal Univ Porto Fac Engn Oporto Portugal Polytech Inst Braganca Oporto Portugal Univ Porto Fac Architecture Oporto Portugal

cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDErobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location;and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDErobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDErobot can be scaled up to real working conditions.

关键词： cable-driven robot Vision-guided positioning Path-planning Scene interpretation

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Deep Learning with Transfer Learning Method for Error Compensation of cable-driven robot 17

Deep Learning with Transfer Learning Method for Error Compen...

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17th International Conference on Informatics in Control, Automation and robotics (ICINCO)

作者： Akhmetzyanov, Aydar Rassabin, Maksim Maloletov, Alexander Fadeev, Mikhail Klimchik, Alexandr Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9789897584428

This paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error compensation to reduce physical experiments with a real robot. The obtained results were applied and validated for 4-dof (degrees of freedom) cable-driven parallel robot. The problem of error compensation for the cable-driven parallel robot is highly non-linear. Nevertheless, deep learning-based methods for a considerable training dataset provides better accuracy than simple linear error compensators. To overcome this drawback, we applied the transfer learning method and used the knowledge of robot kinematics simulated in Unity. Unity cable-driven robot simulation was implemented, and the central hypothesis was verified first in the simulated environment. The proposed Transfer Learning method allowed to speed up the process of robotics system integration and recalibration due to the significant sample efficiency improvement.

关键词： cable-driven robot Kinematics Compensation Deep Learning Transfer Learning robotics

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A Simple Minimum cable-Tension Algorithm for a 2-DOF Planar cable-driven robot driven by 4 cables 11th

A Simple Minimum Cable-Tension Algorithm for a 2-DOF Planar ...

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11th International Conference on Haptics - Science, Technology, and Applications (EuroHaptics)

作者： Baud-Bovy, Gabriel Cetin, Kamil Italian Inst Technol Robot Brain Cognit Sci Dept Genoa Italy Univ Vita Salute San Raffaele Fac Psychol Milan Italy IRCCS San Raffaele Sci Inst Unit Expt Psychol Milan Italy

ISBN: (纸本)9783319933993;9783319933986

In this study, we propose an optimum non-iterative algorithm for the minimum cable tension solution of two degree-of-freedom cable-driven robots. The problem is specifically defined for a cable-driven robot with one end-effector connected to four motors by four cables. A two-cable algorithm and a three-cable algorithm are presented with examples, then the optimal two-cable and three-cable solutions are proven for the absolute value norm and Euclidean norm.

关键词： cable-driven robot cable tension Projection method Optimal solution

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Development of Light-Weight and Rapidly Deployable cable-driven robot

Development of Light-Weight and Rapidly Deployable Cable-Dri...

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IEEE International Conference on Mechatronics (ICM)

作者： Monich, Daniil S. Borisov, Ivan I. Skosarev, Evgeny S. Kolyubin, Sergey A. ITMO Univ Fac Control Syst & Robot St Petersburg Russia Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9781538669594

Visual inspecting of airplanes is one of the most crucial and complex task of airplanes service. Inspecting of airplanes is very important, since it allows to prevent aviation accident. Airplane hull inspection mainly is conducted by humans, resulting in time consuming, inefficiencies of human inspection and dangers to workers. An automated approach to perform the inspection is more preferable. In this paper an automated solution that can be implemented in a hangar conditions or at airfield is suggested. The solution represents a group of a robot-manipulator on a mobile platform and a cable-driven robot. The mobile robot is needed to perform inspecting of the plane's bottom, the cable-driven robot with special tools is needed in order to implement visual inspection of the plane's top. This study focuses on the development of a light-weight and rapidly deployable cable-driven robot. The system kinematics, dynamics, and cable tension analysis are described in the article. A simplified prototype of the light-weight rapidly deployable cable-driven robot has been developed. The model of the robot consists of low weight aluminum frame, four motors attached with pulleys, four cables, and a platform, which is a base for a tool installation. A low number of parts and light weight of the robot ensure its easy transportation, as well as quick installation and dismantling.

关键词： Parallel mechanism cable-driven robot Airplane inspection

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An On-line Continuous cable Tension Distribution Algorithm for cable-driven robot Based on Generalized Inverses 7

An On-line Continuous Cable Tension Distribution Algorithm f...

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7th International Conference on Mechatronics and robotics Engineering (ICMRE)

作者： Lou, Ya'nan Lin, Haoyu Quan, Pengkun Di, Shichun Harbin Inst Technol Sch Mechatron Engn Harbin Peoples R China

ISBN: (纸本)9781665414890

This paper presents an on-line continuous cable tension distribution algorithm for cable-driven robot (CDR), which is inspired by the distinctive property of the homogeneous solution's pseudo-inverse of the cable tensions' redundancy resolution problem. This algorithm is online oriented, i.e., the tension planning of the next cycle depends on the tension of the current cycle. The specific implementation method is to directly specify the difference in cable tension between two adjacent control cycles. The cable tension distribution problem is finally reduced to a planning problem about a certain undetermined vector. Finally, the validity and effectiveness of the proposed algorithm are verified by simulating with a three-DOF six-cable CDR.

关键词： cable-driven robot continuous tensions on-line control generalized inverses

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Kinetostatic Analysis of a Novel Planar cable-driven robot with a Single cable Loop 3rd

Kinetostatic Analysis of a Novel Planar Cable-Driven Robot w...

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3rd International Symposium on Dynamics and Aerodynamics of cables (ISDAC)

作者： Juarez-Perez, Sergio Martin-Parra, Andrea Moya Fernandez, Francisco Rodriguez Rosa, David Gonzalez Rodriguez, Antonio Univ Castilla La Mancha Sch Ind & Aerosp Engn Toledo 45071 Spain

ISBN: (纸本)9783031471544;9783031471520;9783031471513

One of the main problems of cable-driven robots is the limited workspace in comparison to the frame area (in planar cases) or frame volume (in spatial cases). Depending on the presence of external force and the minimum and maximum allowed tension values, the workspace can be significantly decreased. Previous works focused on solving kinematic or dynamic problems when cables are sagging and, as a consequence, to include these end-effector poses into the usable workspace of the robot. In this paper, we tackle the problem of increasing the workspace of cable-driven robots by means of two mechanical modifications: adding passive carriages to the frame and using a single cable loop to command the end-effector pose. The workspace gain for a planar case is presented taking into account the different robot parameters.

关键词： cable-driven robot Parallel robot Kinematics Statics Workspace

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