Position kinematics of a parallel robot based on a five-bar mechanism for knee rehabilitation

摘要：

　　This paper presents the design and kinematics of a parallel robot for knee rehabilitation.The robot is based on a five-bar mechanism and helps the physiotherapist in the realization of 4 basic rehabilitation exercises.The work deals specifically with the characterization of the exercises,the position kinematics of the robot,and the final mechanical design.The robot may slide along a stretcher and the end-effector is responsible for guiding the patient leg to follow the characteristic path of each exercise.

关键词： Position kinematics five-bar mechanism knee rehabilitation

作者: Betsy D.M.Chaparro-Rico Eduardo Castillo-Castaneda

作者单位: Instituto Politecnico Nacional,CICATA Unidad Queretaro,Queretaro,Mexico

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-5

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）