Design Improvement of a Parallel Robot for Lower Limb Rehabilitation
摘要
The paper presents the design improvement of aparallel robot for lower limb rehabilitation to use it in hospital clinical trials. The new design of the robot allows easy attachment to the patient bed targeting bedridden patients. Starting from the medical protocol, for the clinical trials, and baseline assessment of the parallel robot, several components and aspects that need enhancements are identified and the robot is redesigned with respect to these issues. The new design of the robotic structure is validated by virtual simulations to highlight the range of motion of each joint and the forces/torques required to actuate the robot during the rehabilitation process by comparing the motion parameters of the initial design with respect to the enhanced design.