@incollection{araujo2016a,
  title={Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation},
  author={Araujo-G\'omez, Pedro and Diaz-Rodriguez, Miguel and Mata, Vicente and Valera, Angel and Alvaro Page},
  booktitle={ROMANSY 21 - Robot Design, Dynamics and Control},
  pages={303--310},
  year={2016},
  publisher={Springer},
  series={CISM International Centre for Mechanical Sciences},
  volume={569},
  url={http://www.springer.com/us/book/9783319337135},
  issn={0254-1971},
  gsid={https://scholar.google.com/scholar?oi=bibs&hl=es&cites=11747517784869872922},
  abstract={Nowadays, rehabilitation robots represent a field in which a variety of robotic devices have been proposed. One example of such devices is lower-limb rehabilitation robots. Specifically, the knee joint is one of the joints whose rehabilitation is foreseen as a potential task for a robot device. This paper describes the design of a robot for knee diagnosis and rehabilitation. First, we established the design specification by studying the mobility needed at the robot’s end-effector to deal with diagnosis and rehabilitation treatments for knee injuries. The analysis led us to conclude that \(4^{\circ }\) of freedom (DoF), two translation (2T) and two rotational (2R), are needed in order to meet the design specifications. After that, we chose a parallel robot with a 3-UPS/RPU architecture from several conceptual designs of 4 DoF (2T2R) parallel robots. For the chosen robot, we developed the inverse kinematic model, and also we established the preliminary dimensions of the robot. Through simulations, we found the workspace of the robot showing that its end-effector is able to follow a prescribed task taken from studying the leg motion. Finally, we built a prototype, which is currently undergoing dynamic modelling, parameter identification and control design stages.},
  keywords={rehabilitation robots, kinematics, parallel robot, mechatronics design},
}