Abstract
The conceptual design of a new sitting-type lower-limb rehabilitation robot along with simplified motion control for its passive range of motion therapies is put forth here. The suggested system’s design is demonstrated and verified using computer-based numerical simulations. For this, the desired motion trajectory is generated with the help of a clinically obtained gait data-set. The robustness of the proposed simplified motion control scheme is verified with the variation of the physical parameters of the patients’ limb.
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Mohan, S., Sunilkumar, P., Rybak, L., Malyshev, D., Khalapyan, S., & Nozdracheva, A. (2020). Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator. In Mechanisms and Machine Science (Vol. 84, pp. 345–355). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-48989-2_37
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