A 4PRP Redundant Parallel Planar Manipulator for the Purpose of Lower Limb Rehabilitation
23 Jun 2016-pp 53-62
TL;DR: The advantages of the proposed 4-PRP kinematically redundant planar manipulator over existing 2PRP-2PPR in providing higher effective workspace with same capability in performing lower limb rehabilitation tasks are shown.
Abstract: This paper proposes a kinematically redundant planar manipulator for lower limb rehabilitation application, having configuration 4PRP. The challenges in the existing mechanisms has been analyzed and a new configuration is proposed. This configuration helps to improve the effective workspace of the lower limb rehabilitation robot. The lower limb rehabilitation systems are used to treat the post stroke patients and limb injured patients by providing rigorous exercises through the motor nerves recovery. This paper shows the advantages of the proposed 4-PRP kinematically redundant planar manipulator over existing 2PRP-2PPR in providing higher effective workspace with same capability in performing lower limb rehabilitation tasks.
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TL;DR: A robust motion control design of a planar 1P-2P RP hybrid manipulator for performing the lower limb rehabilitation treatments and the applicability of the proposed system is demonstrated successfully on an in-house fabricated prototype as a continuous passive sitting typeLower limb rehabilitation mechanism.
Abstract: This paper addresses a robust motion control design of a planar 1P-2P RP hybrid manipulator for performing the lower limb rehabilitation treatments. The effectiveness and performances of the proposed system along with the motion control scheme is demonstrated using the real-time experiments. Further the robustness and sensitivity of the proposed control scheme is analyzed under different working conditions. In addition, the applicability of the proposed system is demonstrated successfully on an in-house fabricated prototype as a continuous passive sitting type lower limb rehabilitation mechanism in terms of clinical gait pattern generation and the gait-tracking task.
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References
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TL;DR: In this paper, a three degrees of freedom therapeutic exercise robot (physiotherabot) for the lower limbs of a patient who needs rehabilitation after a spinal cord injury (SCI), stroke, muscle disorder, or a surgical operation was developed.
217 citations
19 Dec 2009
TL;DR: A concept of a parallel robot that may be used for mobilization of the lower extremities that is used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics is introduced.
Abstract: A new rehabilitation and fitness robot called the “Lambda Robot” is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics. The kinematics and the construction aspects of the twice three degrees of freedom “Lambda robot” are presented. The different configurations it deals with are discussed to point out the advantages of this structure. Finally, the control and security aspects are presented. The constructed prototype is entirely instrumented with position and force sensors at each motorized articulation. This allows controlling all the movements and the corresponding generated forces.
66 citations
01 Jan 2004
TL;DR: In this article, the LSRO2-CONF-2006-011 Record created on 2006-02-27, modified on 2017-05-10 was used for reference.
Abstract: Keywords: [MDB] Reference LSRO2-CONF-2006-011 Record created on 2006-02-27, modified on 2017-05-10
64 citations
TL;DR: In this paper, a modular lightweight three degrees of freedom (DOF) vertical planar parallel robotic manipulator with a singularity free working region and that which is partially decoupled is proposed.
48 citations
23 Jun 2009
TL;DR: This paper is aimed at showing the first results obtained during the test of the NEUROBike, a new robotic system based on the hypothesis that a better recovery of the neuro-motor control of the leg could result from an early, intensive and task-oriented rehabilitation therapy.
Abstract: Robotic aided therapy has been developed in the last decades in order to improve the effects of gait rehabilitation on stroke patients. Although several platforms have nowadays used in clinical practice, contrasting results have been achieved with reduced significant improvements in stroke patients when they experience robotic based therapy. In particular, an improvement of the clinical outcome may be achieved by starting the rehabilitation process almost immediately after the stroke. To address this issue a new robotic system, called “NEUROBike”, has been developed. This approach is based on the hypothesis that a better recovery of the neuro-motor control of the leg could result from an early, intensive and task-oriented rehabilitation therapy. Therefore, the leg manipulation during the acute phase, following joint trajectories comparable with the ones obtained during natural walking, could improve the outcome of the rehabilitation. In this regard, desired trajectories of the end-effector of NEUROBike have been estimated in accordance with data collected from young and elderly people when walking on treadmill in a range of speeds from 0.5 to 1.3 m/s. Moreover, tracking performance of a traditional position control algorithm has been investigated. This paper is aimed at showing the first results obtained during the test of the platform. In the next months NEUROBike will be applied for the first clinical pilot studies.
15 citations