Parallel Robot

Parallel robot (PR) is a mechanical system that utilized multiple computer-controlled limbs to support one common platform or end effector. Comparing to a serial robot, a PR generally has higher precision and dynamic performance and, therefore, can be applied to many applications. The PR research has attracted a lot of attention in the last three decades, but there are still many challenging issues to be solved before achieving PRs’ full potential. This chapter introduces the state-of-the-art PRs in the aspects of synthesis, design, analysis, and control. The future directions will also be discussed at the end.

Proprioceptive acuity predicts muscle co-contraction of the tibalis anterior and gastrocnemius medialis in older adults’ dynamic postural control

Older adults use a different muscle strategy to cope with postural instability, in which they ‘co-contract’ the muscles around the ankle joint. It has been suggested that this is a compensatory response to age-related proprioceptive decline however this view has never been assessed directly. The current study investigated the association between proprioceptive acuity and muscle co-contraction in older adults. We compared muscle activity, by recording surface EMG from the bilateral tibalis anterior and gastrocnemius medialis muscles, in young (aged 18-34) and older adults (aged 65-82) during postural assessment on a fixed and sway-referenced surface at age-equivalent levels of sway. We performed correlations between muscle activity and proprioceptive acuity, which was assessed using an active contralateral matching task. Despite successfully inducing similar levels of sway in the two age groups, older adults still showed higher muscle co-contraction. A stepwise regression analysis showed that proprioceptive acuity measured using variable error was the best predictor of muscle co-contraction in older adults. However, despite suggestions from previous research, proprioceptive error and muscle co-contraction were negatively correlated in older adults, suggesting that better proprioceptive acuity predicts more co-contraction. Overall, these results suggest that although muscle co-contraction may be an age-specific strategy used by older adults, it is not to compensate for age-related proprioceptive deficits.