Design and simulation of a self - balanced rehabilitation Robot able to work in active and passive modes on both sides of upper and lower limbs

摘要

The article deals with a new six degrees of freedom system for rehabilitation able to work both in active and passive modes on upper and lower limbs, left and rights, based on a hybrid serial parallel robotic system, in which the sequence of constraints is a first vertical axis hinge, then an horizontal axis parallelogram, followed by two vertical axes hinges, by an horizontal axis hinge, and finally by a sixth hinge with axis perpendicular to the previous, with the fourth link that can assume two configurations, depending on the patient side on which to operate, being the system controlled by a multiprocessor system coupled via master board to a PC, that could also detect the force interactions between patient and structure, so that the system might behave as a 3D haptic system. A patent has been applied on this device [1].