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2017 | OriginalPaper | Buchkapitel

DARTAGNAN a Self-balanced Rehabilitation Robot Able to Work in Active and Passive Modes on Both Sides of Upper and Lower Limbs

verfasst von : M. Perrelli, P. Nudo, M. Iocco, G. Danieli

Erschienen in: Advances in Italian Mechanism Science

Verlag: Springer International Publishing

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Abstract

The article deals with a new six degrees of freedom system for rehabilitation, able to work, in active or passive modes, on upper and lower, left and rights limbs. This robot has an hybrid serial parallel structure, mechanically self-balanced thanks to the particular joints configuration. Performing a simple manual operation it’s possible to change configuration of the robot, depending on the patient side on which the operator would act. The system is controlled by a multiprocessor distributed control system connected via CAN bus protocol. The control unit will also able to detect the force interactions between patient and manipulator, so that the system might behave as a 3D haptic system. Patents have been applied on this device [3‐5].

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Vorheriges Kapitel A Study of Feasibility for a Limb Exercising Device

Nächstes Kapitel Dynamic Analysis of Handcycling: Mathematical Modelling and Experimental Tests

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Danieli G (2016) Robot riabilitativo auto-bilanciato in gradi di lavorare sia in modo attivo che passive sia su arti superiori che inferiori, sia destri che sinistri. PCT, 18 Jan 2016

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Titel: DARTAGNAN a Self-balanced Rehabilitation Robot Able to Work in Active and Passive Modes on Both Sides of Upper and Lower Limbs
verfasst von: M. Perrelli
P. Nudo
M. Iocco
G. Danieli
Verlag: Springer International Publishing
Buch: Advances in Italian Mechanism Science
Print ISBN: 978-3-319-48374-0

Electronic ISBN: 978-3-319-48375-7

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-48375-7_3

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