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.
Inverse Dynamic Modeling of a Parallel Elbow Rehabilitation Robot for Spasticity Treatment
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
9 pages
Article/Chapter (Book)
Electronic Resource
English