Abstract
Robotic rehabilitation is a developing field of research which could become a necessity in the next decades due to the natural shifting of the population age. The aim of the paper is to present an innovative robotic device for the rehabilitation of the lower limb of patients in the acute post stroke phase. The parallel robot has a modular construction enabling the mobility of each major joint: hip, knee and ankle. Furthermore, the robotic system kinematics is presented and the singularities are derived, to validate the proposed system for its intended medical task, considering the upper limb motion requirements for the rehabilitation exercises.
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Acknowledgments
The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” cofinanced by the European Regional Development Fund through the Competitivness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
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Vaida, C. et al. (2019). RAISE - An Innovative Parallel Robotic System for Lower Limb Rehabilitation. In: Carbone, G., Ceccarelli, M., Pisla, D. (eds) New Trends in Medical and Service Robotics. Mechanisms and Machine Science, vol 65. Springer, Cham. https://doi.org/10.1007/978-3-030-00329-6_33
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DOI: https://doi.org/10.1007/978-3-030-00329-6_33
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