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New Advances in Mechanism and Machine Science pp 147–154Cite as

Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science,volume 57)

Abstract

This paper presents the kinematics of modular a parallel robot for post-stroke rehabilitation of elbow and wrist. The targeted motions for rehabilitation are: elbow flexion, pronation/supination, flexion/extension and adduction/abduction (radial/ulnar deviation) of the wrist. The kinematic structure of the robotic system is presented starting from general considerations concerning the rehabilitation protocol of the upper limb. Its kinematics is developed and simulation results are presented for a proposed training exercise.

Keywords

  • Parallel robot
  • Elbow and wrist rehabilitation
  • Kinematics
  • Modularity

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Acknowledgements

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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Affiliations

  1. CESTER, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    B. Gherman, N. Plitea, A. Banica & D. Pisla

  2. LARM, University of Cassino and South Latium, Cassino, Italy

    G. Carbone & M. Ceccarelli

Authors
  1. B. Gherman
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  2. G. Carbone
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  3. N. Plitea
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  4. M. Ceccarelli
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  5. A. Banica
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  6. D. Pisla
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Corresponding author

Correspondence to D. Pisla .

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Gherman, B., Carbone, G., Plitea, N., Ceccarelli, M., Banica, A., Pisla, D. (2018). Kinematic Design of a Parallel Robot for Elbow and Wrist Rehabilitation. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_14

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_14

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