Parallel Robot for Lower Limb Rehabilitation Exercises
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 dynam...
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2016-01-01
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Series: | Applied Bionics and Biomechanics |
Online Access: | http://dx.doi.org/10.1155/2016/8584735 |
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doaj-14693b7a81584481b1b3c7303ae410da2021-07-02T04:59:20ZengHindawi LimitedApplied Bionics and Biomechanics1176-23221754-21032016-01-01201610.1155/2016/85847358584735Parallel Robot for Lower Limb Rehabilitation ExercisesAlireza Rastegarpanah0Mozafar Saadat1Alberto Borboni2Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, UKDepartment of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, UKSchool of Mechanical Engineering, Università Degli Studi di Brescia, Brescia, ItalyThe 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.http://dx.doi.org/10.1155/2016/8584735 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Alireza Rastegarpanah Mozafar Saadat Alberto Borboni |
spellingShingle |
Alireza Rastegarpanah Mozafar Saadat Alberto Borboni Parallel Robot for Lower Limb Rehabilitation Exercises Applied Bionics and Biomechanics |
author_facet |
Alireza Rastegarpanah Mozafar Saadat Alberto Borboni |
author_sort |
Alireza Rastegarpanah |
title |
Parallel Robot for Lower Limb Rehabilitation Exercises |
title_short |
Parallel Robot for Lower Limb Rehabilitation Exercises |
title_full |
Parallel Robot for Lower Limb Rehabilitation Exercises |
title_fullStr |
Parallel Robot for Lower Limb Rehabilitation Exercises |
title_full_unstemmed |
Parallel Robot for Lower Limb Rehabilitation Exercises |
title_sort |
parallel robot for lower limb rehabilitation exercises |
publisher |
Hindawi Limited |
series |
Applied Bionics and Biomechanics |
issn |
1176-2322 1754-2103 |
publishDate |
2016-01-01 |
description |
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. |
url |
http://dx.doi.org/10.1155/2016/8584735 |
work_keys_str_mv |
AT alirezarastegarpanah parallelrobotforlowerlimbrehabilitationexercises AT mozafarsaadat parallelrobotforlowerlimbrehabilitationexercises AT albertoborboni parallelrobotforlowerlimbrehabilitationexercises |
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1721339182320713728 |