Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


The conceptual design of a new sitting-type lower-limb rehabilitation robot along with simplified motion control for its passive range of motion therapies is put forth here. The suggested system’s design is demonstrated and verified using computer-based numerical simulations. For this, the desired motion trajectory is generated with the help of a clinically obtained gait data-set. The robustness of the proposed simplified motion control scheme is verified with the variation of the physical parameters of the patients’ limb.


Lower-limb rehabilitation Stationary trainer Continuous passive range of motion Simplified robust motion control 


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Indian Institute of Technology (IIT) PalakkadPalakkadIndia
  2. 2.Belgorod State Technological University (BSTU) named after V.G. ShukhovBelgorodRussia
  3. 3.Stary Oskol Technological Institute named after A.A. Ugarov NUST MISiSStary OskolRussia
  4. 4.Gamaleya National Research Center for Epidemiology and MicrobiologyMoscowRussia

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