DYNAMICS AND IMPROVED COMPUTED TORQUE CONTROL OF A NOVEL MEDICAL PARALLEL MANIPULATOR: APPLIED TO CHEST COMPRESSIONS TO ASSIST IN CARDIOPULMONARY RESUSCITATION

摘要

In cardiopulmonary resuscitation (CPR), in practice, the rescuer usually uses two hands to perform the action of chest compressions. During chest compressions action, the two arms of the rescuer actually constitute a parallel mechanism. Inspired by this performance, this paper presents a novel structure of parallel manipulators from Delta robot family for chest compressions in rescuing a patient. Also, two new control methodologies are applied to track the desired trajectory. Based on one supervisory approach and another one based upon adaptive neuro-fuzzy inference system (ANFIS) approach. Inverse dynamic modeling is performed based on principle of virtual work and the results are verified using MSC. Adams(C) software. The proportional derivative (PD) controllers of computed torque (C-T) method usually need manual retuning to make a successful task, particularly in the presence of disturbance. In the present paper, we study and compare the feasibility of applying supervisory controller and ANFIS instead of conventional controller used in C-T method to cope with the above mentioned problem. Several computer simulations imply that the proposed method is encouraging compared with C-T method implemented with conventional controller.