{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T23:42:47Z","timestamp":1771717367728,"version":"3.50.1"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2022,3,28]],"date-time":"2022-03-28T00:00:00Z","timestamp":1648425600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2022,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>With the increasing demand for rehabilitation and the lack of professional rehabilitation personnel, robot-assisted rehabilitation technology plays an increasingly important role in neurological rehabilitation. In order to recover the exercise ability of patients with waist injury, a new type of wire-driven waist rehabilitation training parallel robot (WWRTPR) is designed. According to the motion trajectory planning of waist rehabilitation training, two coordinate systems are established: moving coordinate system and static coordinate system. The inverse kinematics modeling analysis is carried out, and the dynamic model of the robot is established by using Newton\u2013Euler method. An intelligent control method of force\/position hybrid control based on radial basis function neural network is proposed. The stability of the closed-loop system is analyzed, and the results show that WWRTPR tends to be stable. The simulation analysis of rehabilitation training on WWRTPR is carried out, and the simulation results show that the proposed intelligent control method can effectively control the robot system, which provides a reference for the development of a flexible intelligent rehabilitation training robot.<\/jats:p>","DOI":"10.1017\/s0263574722000376","type":"journal-article","created":{"date-parts":[[2022,3,28]],"date-time":"2022-03-28T09:28:58Z","timestamp":1648459738000},"page":"3499-3513","source":"Crossref","is-referenced-by-count":5,"title":["Study on the design and control method of a wire-driven waist rehabilitation training parallel robot"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4230-163X","authenticated-orcid":false,"given":"Wang","family":"Yuqi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cao","family":"Jinjiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Geng","family":"Ranran","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhou","family":"Lei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wang","family":"Lei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,3,28]]},"reference":[{"key":"S0263574722000376_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2017.2676765"},{"key":"S0263574722000376_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965033"},{"key":"S0263574722000376_ref26","doi-asserted-by":"publisher","DOI":"10.1080\/10798587.2009.10643026"},{"key":"S0263574722000376_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2313-9"},{"key":"S0263574722000376_ref28","doi-asserted-by":"publisher","DOI":"10.3233\/JIFS-210180"},{"key":"S0263574722000376_ref7","doi-asserted-by":"crossref","unstructured":"[7] Gharatappeh, S. , Abbasnejad, G. , Yoon, J. and Lee, H. , \u201cControl of Cable-Driven Parallel Robot for Gait Rehabilitation, The 12th International Conference on Ubiquitous Robots and Ambient Intelligence pp. 377\u2013381.","DOI":"10.1109\/URAI.2015.7358914"},{"key":"S0263574722000376_ref3","first-page":"22","article-title":"Design and analysis of movable cable-driven lower limb rehabilitation robot","volume":"47","author":"Zou","year":"2019","journal-title":"J. Huazhong Univ. Sci. Technol"},{"key":"S0263574722000376_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2018.2864512"},{"key":"S0263574722000376_ref14","doi-asserted-by":"publisher","DOI":"10.3390\/s16122121"},{"key":"S0263574722000376_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720000879"},{"key":"S0263574722000376_ref5","first-page":"452","article-title":"Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot","volume":"35","author":"Huang","year":"2018","journal-title":"J. Biomed. Eng"},{"key":"S0263574722000376_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0492-x"},{"key":"S0263574722000376_ref1","first-page":"139","article-title":"Dual-space adaptive synchronization control of cable-driven parallel robots","volume":"42","author":"Zhang","year":"2020","journal-title":"Robot"},{"key":"S0263574722000376_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2522083"},{"key":"S0263574722000376_ref30","doi-asserted-by":"publisher","DOI":"10.3390\/s21051623"},{"key":"S0263574722000376_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2019.2944665"},{"key":"S0263574722000376_ref20","volume-title":"Dynamic Modeling and Control of the Cable-Driven Parallel Robots","author":"He","year":"2020"},{"key":"S0263574722000376_ref2","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2019.05.019"},{"key":"S0263574722000376_ref22","doi-asserted-by":"publisher","DOI":"10.1108\/AA-03-2018-041"},{"key":"S0263574722000376_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.3027823"},{"key":"S0263574722000376_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2917294"},{"key":"S0263574722000376_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-014-0538-x"},{"key":"S0263574722000376_ref6","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2018.13.126"},{"key":"S0263574722000376_ref17","first-page":"1","article-title":"Hybrid force\/pose control of wire-driven parallel suspension system based on stiffness optimization","volume":"42","author":"Gao","year":"2021","journal-title":"Acta Aeronautica et Astronautica Sinica"},{"key":"S0263574722000376_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0954406220952510"},{"key":"S0263574722000376_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2887233"},{"key":"S0263574722000376_ref25","first-page":"140","volume-title":"RBF Neural Network Control for Mechanical Systems: Design, Analysis and Matlab Simulation","author":"Liu","year":"2018"},{"key":"S0263574722000376_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2020.3027823"},{"key":"S0263574722000376_ref4","first-page":"493","article-title":"Cube, a cable-driven device for limb rehabilitation","volume":"16","author":"Daniele","year":"2019","journal-title":"J. Bionic Eng."},{"key":"S0263574722000376_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3102107"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574722000376","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,21]],"date-time":"2024-09-21T03:15:14Z","timestamp":1726888514000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574722000376\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,3,28]]},"references-count":30,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2022,10]]}},"alternative-id":["S0263574722000376"],"URL":"https:\/\/doi.org\/10.1017\/s0263574722000376","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,3,28]]}}}