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2018 | OriginalPaper | Chapter

Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation

Authors : B. Gherman, G. Carbone, N. Plitea, M. Ceccarelli, A. Banica, D. Pisla

Published in: New Advances in Mechanism and Machine Science

Publisher: Springer International Publishing

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Abstract

This paper presents the kinematics of modular a parallel robot for post-stroke rehabilitation of elbow and wrist. The targeted motions for rehabilitation are: elbow flexion, pronation/supination, flexion/extension and adduction/abduction (radial/ulnar deviation) of the wrist. The kinematic structure of the robotic system is presented starting from general considerations concerning the rehabilitation protocol of the upper limb. Its kinematics is developed and simulation results are presented for a proposed training exercise.

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previous chapter Experimental Method for Dynamic Evaluation of Spinal Column Deformation Exercises
next chapter Preliminary Design for a Spherical Parallel Robot for Shoulder Rehabilitation
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Metadata
Title
Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation
Authors
B. Gherman
G. Carbone
N. Plitea
M. Ceccarelli
A. Banica
D. Pisla
Copyright Year
2018
Book
New Advances in Mechanism and Machine Science

Print ISBN: 978-3-319-79110-4

Electronic ISBN: 978-3-319-79111-1

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-79111-1_14

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