TY - GEN
T1 - On the Design and Experiments of Rotation-Traction Manipulation Training Robot
AU - Zhang, Qingdong
AU - Fu, Tie
AU - Shao, Liwei
AU - Ding, Hongsheng
AU - Feng, Minshan
AU - Zhu, Liguo
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2018.
PY - 2018
Y1 - 2018
N2 - The rotation-traction (RT) manipulation is an effective therapeutic technique for cervical spondylosis in traditional china medicine (TCM). However, the physicians have little opportunities to practice. In order to solving this problem, the concept of RT manipulation training robot is proposed. The robot can be a replacement for patient and assist physicians to practice the manipulation. The neck part of the robot is simulated by a two degree of freedom (DOF) platform and the impedance control is applied to simulate the behaviors of human neck. The spine part is simulated by a variable stiffness structure. In this paper, the structure of the robot is presented, and the control strategy and the detailed design principle are given. The prototype of the robot is manufactured, and experiment results show that the robot can effectively assist the physician to practice the RT manipulation, which can provide a feasible scheme for the RT manipulation training robot.
AB - The rotation-traction (RT) manipulation is an effective therapeutic technique for cervical spondylosis in traditional china medicine (TCM). However, the physicians have little opportunities to practice. In order to solving this problem, the concept of RT manipulation training robot is proposed. The robot can be a replacement for patient and assist physicians to practice the manipulation. The neck part of the robot is simulated by a two degree of freedom (DOF) platform and the impedance control is applied to simulate the behaviors of human neck. The spine part is simulated by a variable stiffness structure. In this paper, the structure of the robot is presented, and the control strategy and the detailed design principle are given. The prototype of the robot is manufactured, and experiment results show that the robot can effectively assist the physician to practice the RT manipulation, which can provide a feasible scheme for the RT manipulation training robot.
KW - Impedance control
KW - RT manipulation training robot
KW - Variable stiffness structure
UR - http://www.scopus.com/inward/record.url?scp=85035801173&partnerID=8YFLogxK
U2 - 10.1007/978-981-10-6553-8_74
DO - 10.1007/978-981-10-6553-8_74
M3 - Conference contribution
AN - SCOPUS:85035801173
SN - 9789811065521
T3 - Mechanisms and Machine Science
SP - 1111
EP - 1123
BT - Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
A2 - Xiang, Changle
A2 - Tan, Jianrong
A2 - Gao, Feng
PB - Springer Netherlands
T2 - International Conference on Mechanical Design, ICMD 2017
Y2 - 13 October 2017 through 15 October 2017
ER -
