Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator

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Abstract

According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

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Most cited references 33

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Adolescent idiopathic scoliosis.

Stuart L. Weinstein, Lori Dolan, Jack Cheng … (2008)

Adolescent idiopathic scoliosis (AIS) affects 1-3% of children in the at-risk population of those aged 10-16 years. The aetiopathogensis of this disorder remains unknown, with misinformation about its natural history. Non-surgical treatments are aimed to reduce the number of operations by preventing curve progression. Although bracing and physiotherapy are common treatments in much of the world, their effectiveness has never been rigorously assessed. Technological advances have much improved the ability of surgeons to safely correct the deformity while maintaining sagittal and coronal balance. However, we do not have long-term results of these changing surgical treatments. Much has yet to be learned about the general health, quality of life, and self-image of both treated and untreated patients with AIS.

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Adolescent idiopathic scoliosis: natural history and long term treatment effects

Marc Asher, Douglas C Burton (2006)

Adolescent idiopathic scoliosis is a lifetime, probably systemic condition of unknown cause, resulting in a spinal curve or curves of ten degrees or more in about 2.5% of most populations. However, in only about 0.25% does the curve progress to the point that treatment is warranted. Untreated, adolescent idiopathic scoliosis does not increase mortality rate, even though on rare occasions it can progress to the >100° range and cause premature death. The rate of shortness of breath is not increased, although patients with 50° curves at maturity or 80° curves during adulthood are at increased risk of developing shortness of breath. Compared to non-scoliotic controls, most patients with untreated adolescent idiopathic scoliosis function at or near normal levels. They do have increased pain prevalence and may or may not have increased pain severity. Self-image is often decreased. Mental health is usually not affected. Social function, including marriage and childbearing may be affected, but only at the threshold of relatively larger curves. Non-operative treatment consists of bracing for curves of 25° to 35° or 40° in patients with one to two years or more of growth remaining. Curve progression of ≥ 6° is 20 to 40% more likely with observation than with bracing. Operative treatment consists of instrumentation and arthrodesis to realign and stabilize the most affected portion of the spine. Lasting curve improvement of approximately 40% is usually achieved. In the most completely studied series to date, at 20 to 28 years follow-up both braced and operated patients had similar, significant, and clinically meaningful reduced function and increased pain compared to non-scoliotic controls. However, their function and pain scores were much closer to normal than patient groups with other, more serious conditions. Risks associated with treatment include temporary decrease in self-image in braced patients. Operated patients face the usual risks of major surgery, a 6 to 29% chance of requiring re-operation, and the remote possibility of developing a pain management problem. Knowledge of adolescent idiopathic scoliosis natural history and long-term treatment effects is and will always remain somewhat incomplete. However, enough is know to provide patients and parents the information needed to make informed decisions about management options.

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An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries

Prashant K Jamwal, Sheng Q. Xie, Shahid Hussain … (2014)

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Author and article information

Journal

Title: Mathematical Problems in Engineering

Abbreviated Title: Mathematical Problems in Engineering

Publisher: Hindawi Limited

ISSN (Print): 1024-123X

ISSN (Electronic): 1563-5147

Publication date Created: April 16 2019

Publication date (Print): April 16 2019

Volume: 2019

Pages: 1-13

Affiliations

[1 ]State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

[2 ]Department of Economic and Trade, School of Business Administration, Zhongnan University of Economics and Law, Wuhan 430000, China

[3 ]Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China

Article

DOI: 10.1155/2019/1835308

SO-VID: f3a77370-adac-462f-83d7-85553d585e62

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http://creativecommons.org/licenses/by/4.0/

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Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator

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Most cited references 33

Adolescent idiopathic scoliosis.

Adolescent idiopathic scoliosis: natural history and long term treatment effects

An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries

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