Abstract
The paper presents the kinematics of an exoskeleton-based robotic system for upper limb rehabilitation of post-stroke patients. The targeted arm areas are the elbow and the wrist, while the targeted motions are flexion/extension, pronation/supination and adduction/abduction. The paper presents the (direct and inverse) kinematic analysis of the proposed solution, the generated workspace of the robot and simulations for a proposed exercise for post-stroke upper limb rehabilitation.
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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” co-financed by the European Regional Development Fund through the Competitiveness 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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Plitea, N. et al. (2018). Kinematic Analysis of an Exoskeleton-Based Robot for Elbow and Wrist Rehabilitation. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds) Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol 54. Springer, Cham. https://doi.org/10.1007/978-3-319-67567-1_40
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DOI: https://doi.org/10.1007/978-3-319-67567-1_40
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