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Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data

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ROMANSY 23 - Robot Design, Dynamics and Control (ROMANSY 2020)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 601))

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Abstract

The article discusses the structure and model of a robotic system for the rehabilitation of the lower limbs based on a passive orthosis in the form of a serial RRRR mechanism and an active parallel 3-PRRR mechanism. Effective numerical methods and algorithms were developed and tested that made it possible to determine the minimum geometric parameters of the active parallel mechanism that ensure the movement of the passive orthosis within the workspace under clinical data when simulating walking. The structure is proposed. The basis parameters for the rehabilitation system design are investigated. To implement the developed methods, an effective algorithm, software package, and visualization system for exported three-dimensional workspaces in STL format were synthesized. The results of mathematical modeling and analysis of the results are given.

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Acknowledgments

This work was supported by the Russian Science Foundation, the agreement number 19-19-00692.

Author information

Authors and Affiliations

  1. Belgorod State Technological University named after V.G. Shukhov, Belgorod, Russia

    Dmitry Malyshev & Larisa Rybak

  2. Indian Institute of Technology Palakkad, Pudussery East, India

    Santhakumar Mohan

  3. Blagonravov Mechanical Engineering Research Institute of the Russian, Academy of Sciences, Moscow, Russia

    Gagik Rashoyan

  4. Gamaleya National Research Center for Epidemiology and Microbiology, Moscow, Russia

    Anna Nozdracheva

Authors
  1. Dmitry Malyshev
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  2. Santhakumar Mohan
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  3. Larisa Rybak
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  4. Gagik Rashoyan
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  5. Anna Nozdracheva
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Corresponding author

Correspondence to Larisa Rybak .

Editor information

Editors and Affiliations

  1. Tokyo University of Agriculture and Technology, Tokyo, Japan

    Gentiane Venture

  2. Karlstad University, Karlstad, Sweden

    Jorge Solis

  3. Tokyo Institute of Technology, Tokyo, Japan

    Yukio Takeda

  4. Hokkaido University, Sapporo, Japan

    Atsushi Konno

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Malyshev, D., Mohan, S., Rybak, L., Rashoyan, G., Nozdracheva, A. (2021). Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data. In: Venture, G., Solis, J., Takeda, Y., Konno, A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences, vol 601. Springer, Cham. https://doi.org/10.1007/978-3-030-58380-4_66

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