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Title
Japanese: 
English:Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb 
Author
Japanese: LIU Ying-Chi, 入部 航介, 武田 行生.  
English: Ying-Chi Liu, Kosuke Irube, Yukio Takeda.  
Language English 
Journal/Book name
Japanese: 
English:Machines 
Volume, Number, Page Vol. 9    No. 12    pp. 323
Published date Nov. 28, 2021 
Publisher
Japanese: 
English:MDPI 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
File
Official URL https://www.mdpi.com/2075-1702/9/12/323
 
DOI https://doi.org/10.3390/machines9120323
Abstract When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human limb and its kinematic mobility. First, the human upper-limb model was made to estimate the interaction force and moment through inverse kinematic analysis. Second, a static analysis was conducted to obtain the force and moment acting on the human limb, which is directly related to the user’s comfort and safety. Then, the design parameters of the 3-RPS robot were obtained by generic optimization through kineto-static analysis. Finally, the influence of the parasitic motion of the 3-RPS robot and the initial offset between the wrist center and the robot moving platform were discussed. Through the analysis results, we provide effective solutions to ensure the safety and comfort of the user.

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