On the kinematics of an innovative spherical parallel robot for shoulder rehabilitation

Abstract

Robotic rehabilitation for post-stroke patients is an on-growing field of research aiming to provide personalized care with maximum therapeutic effects. This paper presents a simple but effective solution for shoulder rehabilitation. It is based on the design of a novel spherical parallel robot, whose name is ASPIRE. Kinematics and workspace are analysed as well as motion simulations are thoroughly presented to show the feasibility and effectiveness of the proposed solution.