SIX DEGREES OF FREEDOM SELF BALANCED HYBRID SERIAL-PARALLEL ROBOTIC SYSTEM FOR REHABILITATION OF UPPER AND LOWER LIMBS, LEFT AND RIGHT

摘要

Six degrees of freedom self balanced hybrid serial-parallel robotic system for rehabilitation of upper and lower limbs, left and right, characterized by the presence in each joint of motors and encoders controlled by microprocessors connected to a central governing unit, and of a first vertical axis hinge (1) followed by an horizontal axis parallelogram (2-2"') bearing on the opposite side a counterweight (2""), by a third and fourth vertical axes hinges (3 and 4), by a fifth horizontal axis hinge (5) and finally a sixth hinge placed perpendicularly to the previous (6), but far from this, as to be aligned with the prono-supination axis of the arm or intra-extra rotation of the leg, being also present an openable ring to hold the arm or leg aligned with such sixth hinge (8), the robotic system being able to move like an exoskeleton although it is not such, guiding correctly the movement of the limbs, thanks to the calculation capacity of its direct kinematics, after setting of the geometric parameters of the robot and calibration, and of reverse kinematic through process optimization, adapting its motion to the limb length of the individual patient which can be measured with the method described in the following claim, being also possible the presence of further counterweights to reduce strains on the structure and force sensors to measure forces and torques applied by the patient.