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

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology
Research Institute of BIT in Zhongshan
China Academy of Traditional Chinese Medicine

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

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.

源语言	英语
主期刊名	Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017
编辑	Changle Xiang, Jianrong Tan, Feng Gao
出版商	Springer Netherlands
页	1111-1123
页数	13
ISBN（印刷版）	9789811065521
DOI	https://doi.org/10.1007/978-981-10-6553-8_74
出版状态	已出版 - 2018
活动	International Conference on Mechanical Design, ICMD 2017 - Beijing, 中国期限: 13 10月 2017 → 15 10月 2017

出版系列

姓名	Mechanisms and Machine Science
卷	55
ISSN（印刷版）	2211-0984
ISSN（电子版）	2211-0992

会议

会议	International Conference on Mechanical Design, ICMD 2017
国家/地区	中国
市	Beijing
时期	13/10/17 → 15/10/17

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 3 良好健康与福祉

访问文件

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

其它文件与链接

链接到 Scopus 的出版物

引用此

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

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

@inproceedings{f88d41fdcb9f42b383914033d8233c94,

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",

publisher = "Springer Netherlands",

pages = "1111--1123",

editor = "Changle Xiang and Jianrong Tan and Feng Gao",

booktitle = "Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017",

address = "Netherlands",

}

Zhang, Q, Fu, T, Shao, L, Ding, H, Feng, M & Zhu, L 2018, On the Design and Experiments of Rotation-Traction Manipulation Training Robot. 在 C Xiang, J Tan & F Gao (编辑), Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Mechanisms and Machine Science, 卷 55, Springer Netherlands, 页码 1111-1123, International Conference on Mechanical Design, ICMD 2017, Beijing, 中国, 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 等.
Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. 编辑 / Changle Xiang; Jianrong Tan; Feng Gao. Springer Netherlands, 2018. 页码 1111-1123 (Mechanisms and Machine Science; 卷 55).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

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 -

Zhang Q, Fu T, Shao L, Ding H, Feng M, Zhu L. On the Design and Experiments of Rotation-Traction Manipulation Training Robot. 在 Xiang C, Tan J, Gao F, 编辑, Advances in Mechanical Design - Proceedings of the 2017 International Conference on Mechanical Design, ICMD 2017. Springer Netherlands. 2018. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

指纹

引用此