Systematic Design of a Parallel Robotic System for Lower Limb Rehabilitation

IEEE Access

Giuseppe Carbone¹  Doina Pisla¹  Calin Vaida¹  Ionut-Mihai Ulinici¹  Iosif Birlescu¹  Adrian Pisla¹  Daniela Tarnita² 

[1] CESTER, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;INCESA, University of Craiova, Craiova, Romania;

关键词: Rehabilitation robotics;    parallel robots;    robot kinematics;    modeling;    numerical simulation;    design engineering;   

DOI  :  10.1109/ACCESS.2020.2974295

来源: DOAJ

【 摘 要 】

This paper presents the design of an innovative robotic system for lower limb post-stroke rehabilitation of bed confined patients during the acute stage of the treatment. To establish the particularities of each targeted joint motion, experimental measurements are performed on healthy subjects. The acquired data is used to determine the operational workspace, namely the limits of the anatomic joints motion for the lower limb. Based on the prescribed operational workspace, an innovative parallel robotic architecture is designed for achieving the rehabilitation of the lower limb. A detailed kinematic modelling and analysis is carried out to demonstrate the robot capability to safely achieve the required motions. The design of the robotic rehabilitation device is discussed in detail alongside with numerical simulations for validating its performance while performing medically relevant rehabilitation motions.

【 授权许可】

Unknown