In this paper the constraint equations for two parallel robots for lower limb rehabilitation are derived. A parameterization method was used where the mobile platform coordinates (written with the Study parameters) were eliminated and the constraints were computed with Groebner bases. For the two parallel robots (RAISE, RECOVER ankle module) the dependencies between the active joints of the robot and the anatomic joints were obtained. For RAISE the results agreed with previous ones, whereas for RECOVER ankle module the results showed simple equations which may be used for the complete analysis of the mechanism and for the control development.
Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2020 ; Ljubljana, Slovenia December 06, 2020 - December 10, 2020
2020-07-18
8 pages
Article/Chapter (Book)
Electronic Resource
English
Reference trajectory generation for rehabilitation robots: complementary limb motion estimation
BASE | 2009
|Design Improvement of a Parallel Robot for Lower Limb Rehabilitation
Springer Verlag | 2024
|Rehabilitation of Lower Limb Injuries
SAE Technical Papers | 1986
|Joint motion control of a powered lower limb orthosis for rehabilitation
British Library Online Contents | 2006
|