Dimensional and workspace analysis of raise rehabilitation robot

Abstract

Stroke is a serious disabling affecting care problem worldwide. Unfortunately, the incidence of stroke is increasing which causes a growing demand for alternatives, mainly robotic assisted solutions. The major benefit of using robotic technologies in post stroke rehabilitation process is the ability to deliver high intensity customized training which improves motor and locomotor function. This paper focuses on lower limb rehabilitation and presents a parallel kinematic robot used for the hip, knee and ankle joints rehabilitation. For the developed robotic system, a dimensional analysis and synthesis of the robotic key components with the increase adaptability to different anthropometric characteristics as well as the mirroring of the system’s workspace with the lower limb operational space is presented.