Bing Chen

Bio: Bing Chen is an academic researcher from Hefei University of Technology. The author has contributed to research in topics: Kinematics. The author has an hindex of 1, co-authored 1 publications receiving 3 citations.

Mechanism Design and Kinematic Analysis of a Waist and Lower Limbs Cable-Driven Parallel Rehabilitation Robot

Abstract: In this paper, a waist and lower limbs cable-driven parallel rehabilitation robot is designed to perform waist and lower limbs rehabilitation simultaneously and separately. It is designed based on the analysis of the human biomechanics and can reduce the cost, meet the needs of more patients and reduce the weight of the robot. The mechanism design is firstly proposed in this paper. The rehabilitation robot is mainly composed of four motor driven parallel motion platform, which can provide active motion to realize the waist rehabilitation in three degrees of freedom (DOF). It also includes a lower limbs adjustable mechanism to realize the hip, knee and ankle rehabilitation training. In addition, the kinematic analysis and numerical simulation of the robot are presented. The simulation results demonstrate that the designed rehabilitation robot is effective and safe with a good kinematic performance.

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Abstract: Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable-driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with humans. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs.

Design and Experimental Research of Cable-Driven Upper-Limb Rehabilitation Robot

Abstract: To help patients with upper-limb dysfunction in rehabilitation training, a parallel cable-driven upper-limb rehabilitation robot was proposed. The robot has advantages in modular design, simple mechanism, low cost, lightweight and good human-machine compatibility. The robot can help patients with upper-limb dysfunction to carry out various forms of rehabilitation training. Trajectory planning, kinematics analysis, workspace verification and human-machine experimental research were also carried out for shoulder joint flexion/extension. The results show that the parallel flexible cable-driven upper-limb rehabilitation robot in this paper has certain significance for patients to carry out rehabilitation training.

Integral sliding mode control of cable-driven rehabilitation robot based on nonlinear extended state observer

Abstract: Cable-driven robots have been applied to the field of rehabilitation, to improve the rehabilitation effect of patients during passive training, an integral sliding mode control method based on nonlinear extended state observer (ISMC-NESO) is designed. Firstly, considering the movement of the cable winders along the rail brackets, the moving platform model and driving model of the robot are established by Lagrange method. Then, the NESO is used to estimate the reaction force of human joints and external interference, and the inverse hyperbolic sine function is used to select the parameters in the initial stage to suppress the differential peak phenomenon. Finally, the error feedback rate is designed combined with integral sliding mode control to improve the trajectory tracking performance of the system, the stability is analyzed by Lyapunov function. The simulation results show that the designed ISMC-NESO method has good tracking effect and can be applied to the rehabilitation training of patients.

Cable Driven Rehabilitation Robots: Comparison of Applications and Control Strategies

Abstract: Significant attention has been paid to robotic rehabilitation using various types of actuator and power transmission. Amongst those, cable-driven rehabilitation robots (CDRRs) are relatively newer and their control strategies have been evolving in recent years. CDRRs offer several promising features, such as low inertia, lightweight, high payload-to-weight ratio, large work-space and configurability. In this paper, we categorize and review the cable-driven rehabilitation robots in three main groups concerning their applications for upper limb, lower limb, and waist rehabilitation. For each group, target movements are identified, and promising designs of CDRRs are analyzed in terms of types of actuators, controllers and their interactions with humans. Particular attention has been given to robots with verified clinical performance in actual rehabilitation settings. A large part of this paper is dedicated to comparing the control strategies and techniques of CDRRs under five main categories of: Impedance-based, PID-based, Admittance-based, Assist-as-needed (AAN) and Adaptive controllers. We have carefully contrasted the advantages and disadvantages of those methods with the aim of assisting the design of future CDRRs