Stability plays a vital role in any robotic system. Its significance increases in systems related to health and medicine. For rehabilitation devices meant for Spinal Cord Injury (SCI) patients, stability is crucial and key element in ensuring patient safety and the usefulness of the devices. In this study, kinematics, force analysis, and the static tip-over stability of a device for rehabilitation of paraplegic patients is discussed. Kinematics modeling and static force analysis provide critical information about position and loading at different points on the device. Force-Angle Stability Criterion is used to find the static tip-over stability of the device while the patient is on board the device. The Criterion relies on the support boundary, tip-over mode axes, and the Center of Mass (COM) of the complete system. The Criterion is sensitive to the COM position and therefore is more suitable for the application. The linear actuator mounted on the device causes the end effector of the device to move. The patient, strapped with the end effector, in turn moves from sitting position to standing position. The study focuses on the analysis of stability based on changing COM during this motion. The results verify that although the system is well within the stability bounds, it is more stable as it moves from sitting position to standing position.
SonenblumSESprigleSLopezRA.Manual wheelchair use: bouts of mobility in everyday life. Rehabil Res Pract2012; 2012: 753165.
2.
MertzL.The next generation of exoskeletons: lighter, cheaper devices are in the works. IEEE Pulse2012; 3(4): 56–61.
3.
DuSSchlattmannJSchulzS, et al. Robot system for the sustainable mobility assurance in the assistance and care. In: 2016 IEEE workshop on advanced robotics and its social impacts (ARSO)2016. Shanghai, China, pp.32–36. IEEE, China. DOI: 10.1109/ARSO.2016.7736252.
4.
WolffJParkerCBorisoffJ, et al. A survey of stakeholder perspectives on exoskeleton technology. J Neuroeng Rehabil2014; 11(1): 169.
5.
PrevidiFFerrarinMCarpinellaI, et al. Modelling and control of a device for rehabilitation of paraplegic patients. In: 2007 American control conference, 2007. New York, NY, USA, pp.2030–2035. IEEE, USA. DOI: 10.1109/ACC.2007.4282620
6.
ErolDSarkarN.Coordinated control of assistive robotic devices for activities of daily living tasks. IEEE Trans Neural Syst Rehabil Eng2008; 16(3): 278–285.
7.
ChenBMaHQinLY, et al. Recent developments and challenges of lower extremity exoskeletons. J Orthop Transl2016; 5: 26–37.
8.
LeeK-mLeeC-HHwangS, et al. Power-assisted wheelchair with gravity and friction compensation. IEEE Trans Ind Electron2016; 63(4): 2203–2211.
9.
ChugoDMoritaYSakaidaY, et al. Standing assistance control using a physical strength of a patient with load estimation. In: 2012 IEEE RO-MAN: the 21st IEEE international symposium on robot and human interactive communication, 2012. Paris, France, pp.234–239. IEEE, France. DOI: 10.1109/ROMAN.2012.6343759
10.
ChugoDMoritaYYokotaS, et al. A robotic walker for standing assistance with realtime estimation of a patient’s load. In: 2012 12th IEEE international workshop on advanced motion control (AMC), 2012. Sarajevo, Bosnia and Herzegovina, pp.1–6. IEEE Bosnia, DOI: 10.1109/AMC.2012.6197106
11.
TakaharaSJeongS. Prototype design of robotic mobility aid to assist elderly’s standing-sitting, walking, and wheelchair driving in daily life. In: 2014 14th International conference on control, automation and systems (ICCAS 2014). Gyeonggi-do, Korea (South) 2014, pp.470–473. IEEE South Korea, DOI: 10.1109/ICCAS.2014.6988047
12.
GranadosDFPKadoneHSuzukiK. Unpowered lower-body exoskeleton with torso lifting mechanism for supporting sit-to-stand transitions. In: 2018 IEEE/RSJ international conference on intelligent robots and systems (IROS), 2018. Madrid, Spain, pp.2755–2761. IEEE Spain, DOI: 10.1109/IROS.2018.8594199
13.
EguchiYKadoneHSuzukiK.Standing mobility device with passive lower limb exoskeleton for upright locomotion. IEEE/ASME Trans Mechatron2018; 23(4): 1608–1618.
14.
SongTXiFJGuoS, et al. Slip analysis for a wheeled mobile manipulator. J Dyn Syst Meas Control2018; 140(2): 021005.
15.
AlipourKMoosavianSAA. Dynamically stable motion planning of wheeled robots for heavy object manipulation. Adv Robot2015; 29(8): 545–560.
16.
FujimotoMChouLS.Dynamic balance control during sit-to-stand movement: an examination with the center of mass acceleration. J Biomech2012; 45(3): 543–548.
17.
DietrichABussmannKPetitF, et al. Whole-body impedance control of wheeled mobile manipulators. Auton Robots2016; 40(3): 505–517.
18.
ZhengXlZhangHRenYy, et al. Rollover stability analysis of tank vehicles based on the solution of liquid sloshing in partially filled tanks. Adv Mech Eng2017; 9(6): 1687814017703894.
19.
AlipourKMoosavianSAA. How to ensure stable motion of suspended wheeled mobile robots. Ind Robot2011; 38(2): 139–152.
20.
MaryamK.Modeling of a device for independent mobility of paraplegic patients. Master’s Thesis, Department of Mechatronics Engineering, Air University, Pakistan, 2016.
21.
KhanMKausarZ. Kinematics modeling and mechanism configuration selection of a mechatronic assistive device for paraplegic patients. In Proceedings of the 5th international conference on mechatronics and control engineering. 2016. Venice, Italy, pp.27–32. Association for Computing Machinery, New York, NY, United States, DOI: http://dx.doi.org/10.1145/3036932.3036941.
22.
AbdullahAKausarZ.Control of sit to stand mechanism of assistive device for paraplegics. J Phys Conf Ser2018; 1016: 012005.
23.
Norman-GerumVMcPheeJ.Comprehensive description of sit-to-stand motions using force and angle data. J Biomech2020; 112: 110046.
24.
ShiaVMooreTYHolmesP, et al. Stability basin estimates fall risk from observed kinematics, demonstrated on the sit-to-stand task. J Biomech2018; 72: 37–45.
25.
GagnonDDuclosCDesjardinsP, et al. Measuring dynamic stability requirements during sitting pivot transfers using stabilizing and destabilizing forces in individuals with complete motor paraplegia. J Biomech2012; 45(8): 1554–1558.
26.
SuganoSHuangQKatoI. Stability criteria in controlling mobile robotic systems. In: Proceedings of 1993 IEEE/RSJ international conference on intelligent robots and systems (IROS ’93)1993. Yokohama, Japan, vol. 2, pp.832–838. IEEE Japan, DOI: 10.1109/IROS.1993.583186
27.
GuoSSongTMohamedRP, et al. Tip-over stability analysis for a wheeled mobile manipulator. J Dyn Syst Meas Control2017; 139(5):054501-054507. DS-15-1438.
28.
ShirafujiSTeradaYItoT, et al. Mechanism allowing large-force application by a mobile robot, and development of aroda. Robot Auton Syst2018; 110: 92–101.
29.
MedeirosVRosaDMeggiolaroM. Torque optimization for stability control of wheeled vehicles in rough terrain. In: Proceedings of the 18th international symposium on dynamic problems of mechanics (DINAME)2019. RJ, Brazil. ABCM, RJ, Brazil, DOI: 10.26678/ABCM.DINAME2019.DIN2019-0157.
30.
Nazem TahmasebiKBelottiRVidoniR, et al. Stability measures and criteria for autonomous mobile robotic platforms: analysis, comparison and numerical evaluation. In: ASME international mechanical engineering congress and exposition, vol. 59414, p.V004T05A057. American Society of Mechanical Engineers.
31.
PapadopoulosEReyDA.The force-angle measure of tipover stability margin for mobile manipulators. Veh Syst Dyn2000; 33(1): 29–48.
32.
de LevaP. Adjustments to Zatsiorsky-Seluyanov’s segment inertia parameters. J Biomech1996; 29(9): 1223–1230.
