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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    Title :

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


    Additional title:

    Mechan. Machine Science



    Conference:

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



    Publication date :

    2022-04-23


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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