TY - JOUR
T1 - Synthesis of a parallel manipulator based rehabilitation cervical collar for C-spine injured patients
AU - Arockia Doss, Arockia Selvakumar
AU - Lingampally, Pavan Kalyan
AU - Nurahmi, Latifah
N1 - Publisher Copyright:
© 2021 Massachussetts Medical Society. All rights reserved.
PY - 2021
Y1 - 2021
N2 - Parallel manipulators (PMs) having lesser than six degrees-of-freedom are said to be lower-mobility parallel mechanism. In this paper, type synthesis is studied using the constraint screw-based synthesis method, and dimensional synthesis for the rotational-prismatic-spherical PM is performed using the geometrical parameters of the human neck. Type synthesis aided in determining the link twists, kinematic chain and arrangement of the kinematic pairs. Link lengths, dimensions of the top, base platform and the initial angle between the base platform and the link are considered for the dimensional synthesis. Based on the synthesis performed, MATLAB simulations are carried out for the mechanism. A comparative study on dimensional synthesis is carried out for three different dimensions of the cervical collars. The outcome of the synthesis helped in the arrangement of the link kinematic pair in a sequence and finalizing the dimensions for the top and base platform. This aided in finding the tilt angle of the top platform for different dimensions of the device. Based on the study, a suitable cervical collar is suggested for the patients suffering from c-spine injury, which could be customized according to the patient’s requirement and enable the user to operate it themselves during the recovery sessions and eliminate the necessity of a therapist.
AB - Parallel manipulators (PMs) having lesser than six degrees-of-freedom are said to be lower-mobility parallel mechanism. In this paper, type synthesis is studied using the constraint screw-based synthesis method, and dimensional synthesis for the rotational-prismatic-spherical PM is performed using the geometrical parameters of the human neck. Type synthesis aided in determining the link twists, kinematic chain and arrangement of the kinematic pairs. Link lengths, dimensions of the top, base platform and the initial angle between the base platform and the link are considered for the dimensional synthesis. Based on the synthesis performed, MATLAB simulations are carried out for the mechanism. A comparative study on dimensional synthesis is carried out for three different dimensions of the cervical collars. The outcome of the synthesis helped in the arrangement of the link kinematic pair in a sequence and finalizing the dimensions for the top and base platform. This aided in finding the tilt angle of the top platform for different dimensions of the device. Based on the study, a suitable cervical collar is suggested for the patients suffering from c-spine injury, which could be customized according to the patient’s requirement and enable the user to operate it themselves during the recovery sessions and eliminate the necessity of a therapist.
KW - Constraint screw-based synthesis
KW - Dimensional synthesis
KW - Lower-mobility
KW - MATLAB
KW - Parallel mechanism
KW - Type synthesis
UR - http://www.scopus.com/inward/record.url?scp=85109162251&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:85109162251
SN - 0826-8185
VL - 36
SP - 1
EP - 8
JO - International Journal of Robotics and Automation
JF - International Journal of Robotics and Automation
IS - 1
ER -