Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb
Nagai, K., Kojima, Y., Yonemoto, T., Okubo, T., Loureiro, R.C.V. and Harwin, W.S. (2007) Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb. In: IEEE 10th International Conference on Rehabilitation Robotics (ICORR 2007), Noordwijk, The Netherlands.
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To link to this article DOI: 10.1109/ICORR.2007.4428564
This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed