Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton
In this study, a hybrid type (2-PUR/UPS) &R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis. The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cer...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-12-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.011 |
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| author | Song Shengtao Wei Zhanbao Ren Yiming Wu Wenjiao |
| author_facet | Song Shengtao Wei Zhanbao Ren Yiming Wu Wenjiao |
| author_sort | Song Shengtao |
| collection | DOAJ |
| description | In this study, a hybrid type (2-PUR/UPS) &R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis. The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cervical vertebra. The kinematic performance of the machine is analyzed to verify whether it can be applied in the field of human cervical vertebra rehabilitation. Firstly, the degrees of freedom of the mechanism are solved and verified by using the spiral theory and the modified Kutzbach-Grvble formula. Secondly, by solving the inverse solution of the position of the mechanism, the rod length of the mechanism is deduced, the program of solving the workspace is written, and the workspace of the mechanism is obtained by the numerical search method. Finally, the mechanism is simulated and analyzed by Adams software. The results show that the mechanism could reach the range required for cervical spine movement, including -55° to 35° for forward and backward leaning. Left-handed and right-handed is -52° to 52°; the left and right lateral flexion is -45° to 45°, which can provide traction treatment for patients with cervical spondylosis. |
| format | Article |
| id | doaj-art-625048b951a944cd9e589f84bf9b6e6a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-625048b951a944cd9e589f84bf9b6e6a2025-01-10T14:59:30ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-12-0147758146660171Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical ExoskeletonSong ShengtaoWei ZhanbaoRen YimingWu WenjiaoIn this study, a hybrid type (2-PUR/UPS) &R cervical vertebra rehabilitation machine is proposed for the cervical traction rehabilitation training of patients with cervical spondylosis. The machine has 3R1T four degrees of freedom and meets the requirement of the range of motion of human cervical vertebra. The kinematic performance of the machine is analyzed to verify whether it can be applied in the field of human cervical vertebra rehabilitation. Firstly, the degrees of freedom of the mechanism are solved and verified by using the spiral theory and the modified Kutzbach-Grvble formula. Secondly, by solving the inverse solution of the position of the mechanism, the rod length of the mechanism is deduced, the program of solving the workspace is written, and the workspace of the mechanism is obtained by the numerical search method. Finally, the mechanism is simulated and analyzed by Adams software. The results show that the mechanism could reach the range required for cervical spine movement, including -55° to 35° for forward and backward leaning. Left-handed and right-handed is -52° to 52°; the left and right lateral flexion is -45° to 45°, which can provide traction treatment for patients with cervical spondylosis.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.011Recovery machineCervical spineInverse solutionWorkspaceAdams software |
| spellingShingle | Song Shengtao Wei Zhanbao Ren Yiming Wu Wenjiao Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton Jixie chuandong Recovery machine Cervical spine Inverse solution Workspace Adams software |
| title | Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton |
| title_full | Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton |
| title_fullStr | Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton |
| title_full_unstemmed | Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton |
| title_short | Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton |
| title_sort | design and kinematic performance analysis of the 2 pur ups amp r hybrid cervical exoskeleton |
| topic | Recovery machine Cervical spine Inverse solution Workspace Adams software |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.12.011 |
| work_keys_str_mv | AT songshengtao designandkinematicperformanceanalysisofthe2purupsamprhybridcervicalexoskeleton AT weizhanbao designandkinematicperformanceanalysisofthe2purupsamprhybridcervicalexoskeleton AT renyiming designandkinematicperformanceanalysisofthe2purupsamprhybridcervicalexoskeleton AT wuwenjiao designandkinematicperformanceanalysisofthe2purupsamprhybridcervicalexoskeleton |