One of the first rehabilitation exercises in a hemiplegic patient is the recovery of the trunk balance, as a previous stage for the gait training. In this paper, a solution to assist this task with a robotic device is proposed and discussed. It is based on a compliant parallel kinematics manipulator of 4 degrees of freedom, 3 rotations and a translation in Z direction, attached to a patient on a standing frame. Thanks to its compliance, the manipulator can move together with the patient in the other two translational degrees of freedom in X and Y directions, although an elastic force that must be absorbed by the patient’s body appears. Here, the analysis of those forces in several positions of the manipulator is shown, concluding that it is possible to design the mechanism taking into account those forces to avoid potential damage to the patient, keeping them under a tolerable threshold.
Analysis of a Compliant Parallel Manipulator for Torso Balance Rehabilitation
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
9 pages
Article/Chapter (Book)
Electronic Resource
English
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