On the Design and Experiments of Rotation-Traction Manipulation Training Robot

The rotation-traction (RT) manipulation is an effective therapeutic technique for cervical spondylosis in traditional china medicine (TCM). However, the physicians have little opportunities to practice. In order to solving this problem, the concept of RT manipulation training robot is proposed. The robot can be a replacement for patient and assist physicians to practice the manipulation. The neck part of the robot is simulated by a two degree of freedom (DOF) platform and the impedance control is applied to simulate the behaviors of human neck. The spine part is simulated by a variable stiffness structure. In this paper, the structure of the robot is presented, and the control strategy and the detailed design principle are given. The prototype of the robot is manufactured, and experiment results show that the robot can effectively assist the physician to practice the RT manipulation, which can provide a feasible scheme for the RT manipulation training robot.

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