On the singularities of a parallel robotic system used for Elbow and Wrist rehabilitation

Abstract

The paper presents the singularity analysis of a modular parallel robotic system designed for elbow and wrist post-stroke rehabilitation using the mathematical modeling based on the Study parameters of SE(3). The kinematics of the robotic system is achieved; the singularity conditions are identified and correlated with the human upper limb motion capabilities to develop a robust control system for a fail-safe rehabilitation robot.