Intrinsically compliant parallel robot for fractured femur reduction: Mechanism optimization and control
Jamwal P.K. Hussain S. Ghayesh M.H.
July 2021Elsevier B.V.
Robotics and Autonomous Systems
2021#141
A robotic system for the reduction of fractured femur bone is proposed in this research to help orthopedics during the labor intensive bone reduction procedures and also save them from radiation stimulated environment. Fractured femur reduction is a good candidate for robotics application owing to its elongated anatomy and strong counteracting forces from surrounding muscles. However, the robot forces should be compliant, and motions need to be accurate. Aiming to achieve these two conflicting objective, a parallel robot actuated by six intrinsically compliant actuators is being proposed here. After an initial design analysis, three performance metrics, namely, the conditioning index, actuator force index and interaction compliance index were identified and formulated. An evolutionary algorithm SPEA2 was employed to simultaneously optimize these objectives by varying the key robot design variables. Subsequent to the optimization, an optimal robot design is obtained which provides the best trade-off between the performance measures. Initial proof of concept experiments were carried out whereby the robot was tested for trajectory following accuracies while maneuvering the moving platform about the three axes. A fuzzy based closed loop feedback controller was implemented on the robot. Excellent trajectory tracking results were observed in response to the sinusoidal inputs.
Compliant actuation , Femur , Fracture reduction , Optimization , Parallel robot , Robot control
Text of the article Перейти на текст статьи
Department of Electrical and Computer Engineering, Nazarbayev University, Astana, 010000, Kazakhstan
Human-Centred Technology Research Center, University of Canberra, Canberra, ACT 2617, Australia
School of Mechanical Engineering, The University of Adelaide, Adelaide, SA, Australia
Department of Electrical and Computer Engineering
Human-Centred Technology Research Center
School of Mechanical Engineering
10 лет помогаем публиковать статьи Международный издатель
Книга Публикация научной статьи Волощук 2026 Book Publication of a scientific article 2026