Stewart platform based robot design and control for passive exercises in ankle and knee rehabilitation

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dc.authorid0000-0002-5792-1228
dc.contributor.authorBudaklı, Merve Teke
dc.contributor.authorYılmaz, Cüneyt
dc.date.accessioned2022-01-11T06:04:54Z
dc.date.available2022-01-11T06:04:54Z
dc.date.issued2021
dc.departmentTAÜ, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.description.abstractNowadays, usage of robots in industry and daily life is increasing, additionally, different robot designs are developed in order to fulfill the applications optimally by means of robots. Parallel robots have a restricted workspace due to their closed chain kinematic structure. However, this kinematic structure provides the robot high positioning accuracy and rigidity. Precise positioning and rigidity are most important key aspects for rehabilitation robots, therefore parallel robots are very suitable for rehabilitation applications. However, the limited workspace of the parallel robot creates a limitation in joint range of motion. In this study, a new rehabilitation robot was designed with the addition of Stewart Platform structure, 7th linear actuator and mechanical part, thus extending the workspace and providing rehabilitation to ankle and knee joints. The robot is configured by combining mechanical design, electronic hardware, mathematical model based on the Newton-Raphson method for forward kinematics as well as vectorial approach for inverse kinematics, and PID position control. Experiments were performed on human leg; ankle and knee range of motion and positioning results are evaluated and compared with literature. According to experimental measurements, the time delay in trajectory tracking was less than 0.5 seconds and the maximum angle deviation was 1.2 degrees.
dc.identifier.citationBudaklı, M. T., & Yılmaz, C. (2021). Stewart platform based robot design and control for passive exercises in ankle and knee rehabilitation. Journal of the Faculty of Engineering and Architecture of Gazi University, 36(4), 1831-1846.
dc.identifier.doi10.17341/gazimmfd.846641
dc.identifier.endpage1846en_US
dc.identifier.issn1300-1884
dc.identifier.issn1304-4915
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85117767258
dc.identifier.scopusqualityQ2
dc.identifier.startpage1831en_US
dc.identifier.trdizinid494887
dc.identifier.urihttps://hdl.handle.net/20.500.12846/621
dc.identifier.volume36en_US
dc.identifier.wosWOS:000692521900005
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.institutionauthorBudaklı, Merve Teke
dc.language.isoen
dc.publisherGazı University Faculty Engineering Architecture
dc.relation.ispartofJournal of the Faculty of Engineering and Architecture of Gazi University
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectStewart Platformen_US
dc.subjectLower Limb Rehabilitation Roboten_US
dc.subjectNewton-Raphson Methoden_US
dc.subjectPosition Controlen_US
dc.subjectAlt Ekstremite Rehabilitasyon Robotuen_US
dc.subjectKonum Kontrolüen_US
dc.subjectPositionskontrolleen_US
dc.titleStewart platform based robot design and control for passive exercises in ankle and knee rehabilitation
dc.typeArticle

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