A Spherical Parallel Three Degrees-of-Freedom Robot for Ankle-Foot Neuro-Rehabilitation

被引：0

作者：

Malosio, Matteo ^{[1
]}

Negri, Simone Pio ^{[1
]}

Pedrocchi, Nicola ^{[1
]}

Vicentini, Federico ^{[1
]}

Caimmi, Marco ^{[1
]}

Tosatti, Lorenzo Molinari ^{[1
]}

机构：

[1] CNR Natl Res Council, Inst Ind Technol & Automat, I-20133 Milan, Italy

来源：

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2012年

关键词：

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot-assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces/torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises.

引用

页码：3356 / 3359

页数：4

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