Wu, J., Liu, Y., Zhao, J., Zang, X., & Guan, Y. (2022). Research on Theory and a Performance Analysis of an Innovative Rehabilitation Robot. Sensors, 22(10), Article 10. https://doi.org/10.3390/s22103929
This paper presents an innovative application of a 6-DOF robot in the field of rehabilitation training. This robot operates in a parallel fashion for lower limb movement, which adopts a new structure that can help patients to carry out a variety of rehabilitation exercises. Traditional parallel robots, such as the Stewart robot, have the characteristics of strong bearing capacity. However, it is difficult to achieve high-speed, high-acceleration and long journey movement. This paper presents a new robot configuration that can address these problems. This paper also conducts an all-around characteristic analysis of this new parallel robot, including kinematics, dynamics and structure, to better study the robot and improve its performance. This paper optimizes an algorithm to make it more suitable for rehabilitation training. Finally, the performance improvements brought by optimization are verified by simulations.
Kadivar, Z., Sung, C., Thompson, Z., O', Malley, M., Liebschner, M., & Deng, Z. (2011). Comparison of Reaching Kinematics During Mirror and Parallel Robot Assisted Movements. In Medicine Meets Virtual Reality 18 (pp. 247–253). IOS Press. https://doi.org/10.3233/978-1-60750-706-2-247
The use of robotic devices in rehabilitation allows therapists to administer the desired movement with the preferred level of assistance while expending minimum effort. Robotic devices have been used in recent years to enhance sensori-motor recovery of the impaired arm in persons with stroke. Despite recent recommendations for bimanual practice, robot-assisted bimanual activities are rarely explored and are limited to mirror image movements. We developed a novel parallel movement mode for the Mirror Image Movement Enabler robotic system and investigated trajectory error (TE) exhibited by healthy adults during parallel and mirror image motions to various target locations. TE values differed for parallel and mirror image motions and for certain target locations, suggesting the importance of considering these factors when developing robot-assisted bimanual activities.