by Alvaro Page, Nidal Fahrat, Vicente Mata, Angel Valera, Miguel Díaz, Marina Vallés
Abstract:
Parallel robots are increasingly being used for rehabilitation of the lower limb due to their simplicity, versatility, robustness, load capacity and low cost. In the last decade, a few rehabilitation parallel robots (RPRs) have been developed, mainly for the ankle (Jimenez-Fabian, et al. Med. Eng. Phys. 34,2016 397–408.) and, more recently, for knee rehabilitation (Araujo-Gómez, et al. ROMANSY,2016). Unlike exoskeletons, RPRs do not exert mechanical actions on the joints, but over the distal end of the limb. For this reason, the control actions monitored from the robot may not coincide with those transmitted to the muscles and ligaments. This, in turns, limits the effectiveness of the exercises as well as the possibility of developing dynamic safety systems ( Alamdari, et al. Hum. Model. Bio-inspired Robot, 2016 37–64). In this paper, we present a hybrid model that estimates joint forces that will be incorporated as dynamic control signals of an RPR for knee rehabilitation.
Reference:
Biomechanical model of the lower limb for dynamic control of knee rehabilitation parallel robot (Alvaro Page, Nidal Fahrat, Vicente Mata, Angel Valera, Miguel Díaz, Marina Vallés), In Gait & Posture, Elsevier, volume 57, 2017.
Bibtex Entry:
@article{page2017,
title={Biomechanical model of the lower limb for dynamic control of knee rehabilitation parallel robot},
author={Page, Alvaro and Fahrat, Nidal and Mata, Vicente and Valera, Angel and D{\'\i}az, Miguel and Vall{\'e}s, Marina},
year={2017},
journal={Gait \& Posture},
publisher={Elsevier},
volume={57},
number={S1},
pages = {260--261},
url={http://dx.doi.org/10.1016/j.gaitpost.2017.06.404},
doi={doi: 10.1016/j.gaitpost.2017.06.404},
abstract={Parallel robots are increasingly being used for rehabilitation of the lower limb due to their simplicity, versatility, robustness, load capacity and low cost. In the last decade, a few rehabilitation parallel robots (RPRs) have been developed, mainly for the ankle (Jimenez-Fabian, et al. Med. Eng. Phys. 34,2016 397–408.) and, more recently, for knee rehabilitation (Araujo-G\'omez, et al. ROMANSY,2016). Unlike exoskeletons, RPRs do not exert mechanical actions on the joints, but over the distal end of the limb. For this reason, the control actions monitored from the robot may not coincide with those transmitted to the muscles and ligaments. This, in turns, limits the effectiveness of the exercises as well as the possibility of developing dynamic safety systems ( Alamdari, et al. Hum. Model. Bio-inspired Robot, 2016 37–64). In this paper, we present a hybrid model that estimates joint forces that will be incorporated as dynamic control signals of an RPR for knee rehabilitation.},
}