The use of collaborative robots (or cobots) in rehabilitation therapies is aimed at assisting and shortening the patient's recovery after neurological injuries. Cobots are inherently safe when interacting with humans and can be programmed in different working modalities based on the patient's needs and the level of the injury. This study presents a design optimization of a robotic system for upper limb rehabilitation based on the manipulability ellipsoid method. The human-robot system is modeled as a closed kinematic chain in which the human hand grasps a handle attached to the robot's end effector. The manipulability ellipsoids are determined for both the human and the robotic arm and compared by calculating an index that quantifies the alignment of the principal axes. The optimal position of the robot base with respect to the patient is identified by a first global optimization and by a further local refinement, seeking the best alignment of the manipulability ellipsoids in a series of points uniformly distributed within the shared workspace.


    Access

    Download


    Export, share and cite



    Title :

    Manipulability Optimization of a Rehabilitative Collaborative Robotic System



    Publication date :

    2022-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Manipulability Index Optimization for a Planar Robotic Arm

    Engardt, Max / Heimburger, Axel / Sydhoff, Philip | BASE | 2012

    Free access

    CyberForce Haptic Device: Kinematics and Manipulability

    Martinez-Teran, Gerardo / Dominguez-Ramirez, Omar Arturo / Ramirez-Zamora, Juan Daniel et al. | IEEE | 2015


    Manipulability of Dual Cooperative Robots

    P. Chiacchio / S. Chiaverini / L. Sciavicco et al. | NTIS | 1989


    Compliance Control Considering a Robot's Manipulability

    Luo, Z.-W. / Yamakita, M. / Iwakoshi, K. et al. | British Library Online Contents | 1995


    PHANToM OMNI Haptic Device: Kinematic and Manipulability

    Silva, Alejandro Jarillo / Ramirez, Omar A. Domínguez / Vega, Vicente Parra et al. | IEEE | 2009