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arXiv · 2011.04230

A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment

Afshin Alipour·Mohammad J. Mahjoob·Zahra Fakhari·Ara Nazarian
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Abstract

Stationary robotic trainers are lower limb rehab robots which often incorporate an exoskeleton attached to a stationary base. The issue observed in the stationery trainers for simultaneous knee and ankle-foot complex joints is that they restrict the natural motion of ankle-foot in the rehab trainings due to the insufficient Degrees of Freedom (DOFs) of these trainers. A new stationary knee-ankle-foot rehab robot with all necessary DOFs is developed here. A typical rehab training is first implemented in simulation, and then tested on a healthy subject. Results show that the proposed system functions naturally and meets the requirements of the desired rehab training.

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Afshin Alipour, Mohammad J. Mahjoob, Zahra Fakhari, Ara Nazarian. 2020-11-09. A New 4-DOF Robot for Rehabilitation of Knee and Ankle-Foot Complex: Simulation and Experiment. https://doi.org/10.18196/jrc.v3i4.14759

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