Path’s slicing analysis as a therapist’s intervention tool for robotic rehabilitation

Research output: Chapter in Book/Report/Conference proceedingConference contribution


  • Che Zulkhairi Abdullah
  • Hamid Rakhodaei
  • Alberto Borboni

Colleges, School and Institutes

External organisations

  • Department of Mechanical Engineering
  • UCL
  • University of Brescia


The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s intervention of fine-control is in the format of planar elements (like pelvis linkage) or joints (like knee), which relate to trajectory or orientation adjustments. The rehabilitation process has to consider the patient’s ability, limit and motion constraint that form those two factors. The parameters for controlling these is associated with kinematic, that defines the behaviour and characteristic of the lower limb. The developed 3D Python simulation system allows for this fine-tuning in the form of slice analysis and interval analysis. The results show that Bezier could be successfully used in various development aspects of parallel robots. The Hybrid and Hexapod robot configurations in this study can then be linked to a Haptic controller that runs on Python’s Haptic engine.


Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
EditorsCarlo Ferraresi, Giuseppe Quaglia
Publication statusPublished - 2018
Event26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, Italy
Duration: 21 Jun 201723 Jun 2017

Publication series

NameMechanisms and Machine Science
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992


Conference26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017


  • Bezier, Brownian motion, Parallel robot, Robotic rehabilitation, Slice analysis