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.
Supported by the Russian Science Foundation, the agreement number 19-19-00692.
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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: Zeghloul, S., Laribi, M., Sandoval Arevalo, J. (eds) Advances in Service and Industrial Robotics. RAAD 2020. Mechanisms and Machine Science, vol 84. Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_37
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DOI: https://doi.org/10.1007/978-3-030-48989-2_37
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