Lower Limb Rehabilitation Using Patient Data

Alireza Rastegarpanah; Mozafar Saadat

doi:10.1155/2016/2653915

Lower Limb Rehabilitation Using Patient Data

Alireza Rastegarpanah, Mozafar Saadat

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

204 Downloads (Pure)

Abstract

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

Original language	English
Article number	2653915
Pages (from-to)	1-10
Journal	Applied Bionics and Biomechanics
Volume	2016
DOIs	https://doi.org/10.1155/2016/2653915
Publication status	Published - 2016

Access to Document

10.1155/2016/2653915Licence: Creative Commons: Attribution (CC BY)

Rastegarpanah_Saadat_Lower_limb_2653915Final published version, 4.41 MBLicence: Creative Commons: Attribution (CC BY)

https://www.hindawi.com/journals/abb/2016/2653915/

Cite this

@article{773a1940e6cb463fa19b0212f8590c71,

title = "Lower Limb Rehabilitation Using Patient Data",

abstract = "The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.",

author = "Alireza Rastegarpanah and Mozafar Saadat",

year = "2016",

doi = "10.1155/2016/2653915",

language = "English",

volume = "2016",

pages = "1--10",

journal = "Applied Bionics and Biomechanics",

issn = "1176-2322",

publisher = "Hindawi Publishing Corporation",

}

TY - JOUR

T1 - Lower Limb Rehabilitation Using Patient Data

AU - Rastegarpanah, Alireza

AU - Saadat, Mozafar

PY - 2016

Y1 - 2016

N2 - The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

AB - The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

U2 - 10.1155/2016/2653915

DO - 10.1155/2016/2653915

M3 - Article

SN - 1176-2322

VL - 2016

SP - 1

EP - 10

JO - Applied Bionics and Biomechanics

JF - Applied Bionics and Biomechanics

M1 - 2653915

ER -

Lower Limb Rehabilitation Using Patient Data

Abstract

Access to Document

Fingerprint

Cite this