An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design

Citations of this article
Mendeley users who have this article in their library.
Get full text


Loss of upper limb function often appears after stroke. In this paper the 3D mechanism design for an electromagnetically powered end-effector based robotic manipulator was developed for post-stroke physical therapy. The proposed system delivers a dexterous performance and has a novelty among end-effector based rehabilitation robots. Its design incorporates curved links, which expand the manipulators performance abilities, and, as a result, increase the range of types of rehabilitation therapies. The proposed robotic manipulator can provide a patient with three and two degrees of freedom in shoulder and elbow joints, respectively. It has seven degrees of freedom, and is capable of 7 kg payload. The design of manipulators linkages was optimized to decrease the weight of the system.

Author supplied keywords




Ponomarenko, Y., Aubakir, B., Hussain, S., & Shintemirov, A. (2014). An end-effector based upper-limb rehabilitation robot: Preliminary mechanism design. In 10th France-Japan Congress, 8th Europe-Asia Congress on Mecatronics, MECATRONICS 2014 (pp. 168–172). Institute of Electrical and Electronics Engineers Inc.

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free