Design Improvement of a Parallel Robot for Lower Limb Rehabilitation

被引：0

作者：

Pisla, Doina ^{[1
,2
]}

Tucan, Paul ^{[1
]}

Tohanean, Nicoleta ^{[3
,4
]}

Birlescu, Iosif ^{[1
]}

Abrudan, Cristian ^{[3
,4
]}

Horsia, Alin ^{[1
]}

Gherman, Bogdan ^{[1
]}

Pisla, Adrian ^{[1
]}

Machado, Jose ^{[1
,5
]}

Vaida, Calin ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Res Ctr Ind Robots Simulat & Testing, CESTER, Cluj Napoca 400641, Romania

[2] Tech Sci Acad Romania, 26 Dacia Blvd, Bucharest 030167, Romania

[3] Cluj Napoca Emergency Clin Cty Hosp, Neurol Dept 1, Cluj Napoca 400012, Romania

[4] Univ Med & Pharm Iuliu Hatieganu, Neurol Dept, Cluj Napoca 400012, Romania

[5] Univ Minho, MEtRICs Res Ctr, Campus Azurem, P-4800058 Guimaraes, Portugal

来源：

ROBOTICS AND MECHATRONICS, ISRM 2024 | 2024年 / 158卷

关键词：

Parallel robot; Robotic assisted rehabilitation; Design improvement; Motion simulation;

D O I：

10.1007/978-3-031-59888-3_21

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents the design improvement of aparallel robot for lower limb rehabilitation to use it in hospital clinical trials. The new design of the robot allows easy attachment to the patient bed targeting bedridden patients. Starting from the medical protocol, for the clinical trials, and baseline assessment of the parallel robot, several components and aspects that need enhancements are identified and the robot is redesigned with respect to these issues. The new design of the robotic structure is validated by virtual simulations to highlight the range of motion of each joint and the forces/torques required to actuate the robot during the rehabilitation process by comparing the motion parameters of the initial design with respect to the enhanced design.

引用

页码：227 / 237

页数：11

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