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https://dspace.iiti.ac.in/handle/123456789/6850
| Title: | Kinematic analysis of a passive sitting/lying type lower limb rehabilitation robot |
| Authors: | Saxena, Chitransh Gupta, Gaurav Mohan, Santhakumar |
| Keywords: | Degrees of freedom (mechanics);Kinematics;Neuromuscular rehabilitation;Patient rehabilitation;Robots;Lower limb;Parallel manipulators;Performance analysis;Rehabilitation robot;Robotherapy;Serial manipulators;Therapeutic exercise;Three degrees of freedom;Manipulators |
| Issue Date: | 2015 |
| Publisher: | Indian Institute of Technology, IIT, Kanpur |
| Citation: | Mohanta, J. K., Saxena, C., Gupta, G., & Mohan, S. (2015). Kinematic analysis of a passive sitting/lying type lower limb rehabilitation robot. Paper presented at the 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015, |
| Abstract: | This paper addresses the working principal of a sitting/lying type passive lower limb rehabilitation robot (LLRR) where patients legs are connected with a passive serial manipulator(orthoses) which consists of three rotary joints serially connected in a plane (RRR), with an active feedback, driven by a three degrees of freedom (DOF) parallel manipulator looks like a symbol The Lambda. The kinematics of the proposed rehabilitation robot has been presented and discussed. Performance analysis of the proposed robot for basic therapeutic exercises has been analyzed on a virtual prototype with the help of multibody dynamic package (namely MSC ADAMS™) and discussed. © 2015, Indian Institute of Technology, IIT. All rights reserved. |
| URI: | https://dspace.iiti.ac.in/handle/123456789/6850 |
| Type of Material: | Conference Paper |
| Appears in Collections: | Department of Mechanical Engineering |
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