Given the increasing number of patients suffering from stroke related upper limb spasticity, there is a strong trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-elbow parallel robot, designed for elbow and forearm spasticity treatment. The model is based on the virtual work concept and the lumped masses paradigm. The generated model allows for a detailed examination of the ParReEx-elbow robot's dynamic capabilities and the generation of an accurate and efficient robotic-assisted protocol for spasticity treatment.


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    Titel :

    Inverse Dynamic Modeling of a Parallel Elbow Rehabilitation Robot for Spasticity Treatment


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Banica, Alexandru (Autor:in) / Gherman, Bogdan (Autor:in) / Tohanean, Nicoleta (Autor:in) / Antal, Tiberiu (Autor:in) / Pisla, Adrian (Autor:in) / Abrudan, Cristian (Autor:in) / Carbone, Giuseppe (Autor:in) / Pisla, Doina (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    2022-04-23


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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