On the Design and Experiments of Rotation-Traction Manipulation Training Robot

Qingdong Zhang; Tie Fu; Liwei Shao; Hongsheng Ding; Minshan Feng; Liguo Zhu

doi:10.1007/978-981-10-6553-8_74

On the Design and Experiments of Rotation-Traction Manipulation Training Robot

Qingdong Zhang^*, Tie Fu, Liwei Shao, Hongsheng Ding, Minshan Feng, Liguo Zhu

^*Corresponding author for this work

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
Editors	Changle Xiang, Jianrong Tan, Feng Gao
Publisher	Springer Netherlands
Pages	1111-1123
Number of pages	13
ISBN (Print)	9789811065521
DOIs	https://doi.org/10.1007/978-981-10-6553-8_74
Publication status	Published - 2018
Event	International Conference on Mechanical Design, ICMD 2017 - Beijing, China Duration: 13 Oct 2017 → 15 Oct 2017

Publication series

Name	Mechanisms and Machine Science
Volume	55
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	International Conference on Mechanical Design, ICMD 2017
Country/Territory	China
City	Beijing
Period	13/10/17 → 15/10/17

Keywords

Impedance control
RT manipulation training robot
Variable stiffness structure

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-981-10-6553-8_74

Cite this

Zhang, Q., Fu, T., Shao, L., Ding, H., Feng, M., & Zhu, L. (2018). On the Design and Experiments of Rotation-Traction Manipulation Training Robot. In C. Xiang, J. Tan, & F. Gao (Eds.), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017 (pp. 1111-1123). (Mechanisms and Machine Science; Vol. 55). Springer Netherlands. https://doi.org/10.1007/978-981-10-6553-8_74

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title = "On the Design and Experiments of Rotation-Traction Manipulation Training Robot",

abstract = "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.",

keywords = "Impedance control, RT manipulation training robot, Variable stiffness structure",

author = "Qingdong Zhang and Tie Fu and Liwei Shao and Hongsheng Ding and Minshan Feng and Liguo Zhu",

note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2018.; International Conference on Mechanical Design, ICMD 2017 ; Conference date: 13-10-2017 Through 15-10-2017",

year = "2018",

doi = "10.1007/978-981-10-6553-8\_74",

language = "English",

isbn = "9789811065521",

series = "Mechanisms and Machine Science",

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}

Zhang, Q, Fu, T, Shao, L, Ding, H, Feng, M & Zhu, L 2018, On the Design and Experiments of Rotation-Traction Manipulation Training Robot. in C Xiang, J Tan & F Gao (eds), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Mechanisms and Machine Science, vol. 55, Springer Netherlands, pp. 1111-1123, International Conference on Mechanical Design, ICMD 2017, Beijing, China, 13/10/17. https://doi.org/10.1007/978-981-10-6553-8_74

On the Design and Experiments of Rotation-Traction Manipulation Training Robot. / Zhang, Qingdong; Fu, Tie; Shao, Liwei et al.
Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. ed. / Changle Xiang; Jianrong Tan; Feng Gao. Springer Netherlands, 2018. p. 1111-1123 (Mechanisms and Machine Science; Vol. 55).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - https://www.scopus.com/pages/publications/85035801173

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M3 - Conference contribution

AN - SCOPUS:85035801173

SN - 9789811065521

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BT - Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017

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ER -

Zhang Q, Fu T, Shao L, Ding H, Feng M, Zhu L. On the Design and Experiments of Rotation-Traction Manipulation Training Robot. In Xiang C, Tan J, Gao F, editors, Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Springer Netherlands. 2018. p. 1111-1123. (Mechanisms and Machine Science). doi: 10.1007/978-981-10-6553-8_74

On the Design and Experiments of Rotation-Traction Manipulation Training Robot

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Keywords

UN SDGs

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