TY - JOUR
T1 - Design of RYSEN
T2 - An intrinsically safe and low-power three-dimensional overground body weight support
AU - Plooij, Michaël
AU - Keller, Urs
AU - Sterke, Bram
AU - Komi, Salif
AU - Vallery, Heike
AU - Von Zitzewitz, Joachim
N1 - Accepted Author Manuscript
PY - 2018
Y1 - 2018
N2 - Body weight support (BWS) systems are widely used in gait research and rehabilitation. This letter introduces a new three-dimensional overground BWS system, called the RYSEN. The RYSEN is designed to be intrinsically safe and low power consuming, while still performing at least as well as existing BWS systems regarding human-robot interaction. These features are mainly achieved by decoupling degrees of freedom between motors: slow/high-torque motors for vertical motion and fast/low-torque motors for horizontal motion. This letter explains the design and evaluates its performance on power consumption and safety. Power consumption is expressed in terms of the sum of the positive mechanical output power of all motor axes. Safety is defined as the difference between the mechanical power available for horizontal and vertical movements and the mechanical power that is needed to perform its task. The results of the RYSEN are compared to the performance of three similar systems: a gantry, the FLOAT, and a classic cable robot. The results show that the RYSEN and a gantry consume approximately the same amount of power. The amount is approximately half the power consumed by the next-best system. For the safety, the gantry is taken as the benchmark, because of its perfect decoupling of directions. The RYSEN has a surplus of 268 W and 126 W for horizontal and vertical movements, respectively. This is significantly lower than the next-best system, which has a surplus of 1088 W and 1967 W, respectively
AB - Body weight support (BWS) systems are widely used in gait research and rehabilitation. This letter introduces a new three-dimensional overground BWS system, called the RYSEN. The RYSEN is designed to be intrinsically safe and low power consuming, while still performing at least as well as existing BWS systems regarding human-robot interaction. These features are mainly achieved by decoupling degrees of freedom between motors: slow/high-torque motors for vertical motion and fast/low-torque motors for horizontal motion. This letter explains the design and evaluates its performance on power consumption and safety. Power consumption is expressed in terms of the sum of the positive mechanical output power of all motor axes. Safety is defined as the difference between the mechanical power available for horizontal and vertical movements and the mechanical power that is needed to perform its task. The results of the RYSEN are compared to the performance of three similar systems: a gantry, the FLOAT, and a classic cable robot. The results show that the RYSEN and a gantry consume approximately the same amount of power. The amount is approximately half the power consumed by the next-best system. For the safety, the gantry is taken as the benchmark, because of its perfect decoupling of directions. The RYSEN has a surplus of 268 W and 126 W for horizontal and vertical movements, respectively. This is significantly lower than the next-best system, which has a surplus of 1088 W and 1967 W, respectively
KW - Winches
KW - Force
KW - Three-dimensional displays
KW - Safety
KW - Robot kinematics
KW - Pulleys
UR - http://resolver.tudelft.nl/uuid:82579cca-1680-4eee-b601-175e944e0b0c
U2 - 10.1109/LRA.2018.2812913
DO - 10.1109/LRA.2018.2812913
M3 - Article
SN - 2377-3766
VL - 3
SP - 2253
EP - 2260
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 3
ER -