Parallel Robot for Lower Limb Rehabilitation Exercises
Joint Authors
Borboni, Alberto
Rastegarpanah, Alireza
Saadat, Mozafar
Source
Applied Bionics and Biomechanics
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-05
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises.
The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises.
Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators’ forces, workspace, and singularity locus of the robot during the performing of the exercises.
The calculated length of the actuators and the actuators’ forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot.
A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants.
Kinect camera was used to track the motion of the leg’s model placed on the robot.
The results demonstrate the robot’s capability to perform a full range of various rehabilitation exercises.
American Psychological Association (APA)
Rastegarpanah, Alireza& Saadat, Mozafar& Borboni, Alberto. 2016. Parallel Robot for Lower Limb Rehabilitation Exercises. Applied Bionics and Biomechanics،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1094836
Modern Language Association (MLA)
Rastegarpanah, Alireza…[et al.]. Parallel Robot for Lower Limb Rehabilitation Exercises. Applied Bionics and Biomechanics No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1094836
American Medical Association (AMA)
Rastegarpanah, Alireza& Saadat, Mozafar& Borboni, Alberto. Parallel Robot for Lower Limb Rehabilitation Exercises. Applied Bionics and Biomechanics. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1094836
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1094836