In this paper a cable-based system is presented for rehabilitation of the shoulder and elbow movements. Cable-based manipulators have very good kinematic and dynamic characteristics, and they also show other properties such as: transportability and low-cost construction, which make them also suitable for medical applications and rehabilitation. The general robotics structure consists of four cables that allow the movement of vertical flexion-extension, abduction-adduction and horizontal flexion-extension with different limits of movement and speed of the shoulder. The structure can also perform the elbow movements of the flexion-extension. The development of this robotic device is justified by the large number of people with upper limb problems. These problems are due of stroke, polio, arthritis, recovery after accidents or trauma and can be applied to movements of physical therapy. The kinematics model of cable-based parallel robots is obtained similarly to the model obtained from traditional parallel structures. The graphical simulations of the cable-based parallel structure for rehabilitation of the movements of the human arm are presented showing the viability of the proposed structure. Finally preliminary experimental tests are presented.

The development of robotic devices to apply in the rehabilitation process of human lower limbs is justified by the large number of people with lower limb problems due to stroke and/or accidents. Thus, this paper presents a cable-driven parallel manipulator for lower limb rehabilitation which is composed by a fixed base and a mobile platform that can be connected to one cable at most six and can performing the movement of human gait and the individual movements of the hip, the knee and the ankle. This paper starts with a study of the basic movements of the lower limb. Then the kinetostatic and force analysis were presented. The graphical simulation and experimental tests of the cable-driven parallel structure for lower limb rehabilitation movements are presented showing the viability of the proposed structure.

This chapter deals with the development of a new active body weight support, based on a parallel robotic structure with 5 degrees of freedom. Initially, a revision of the main structures applied in body weight support for gait rehabilitation is presented, along with a conceptual model of the proposed structure. Therefore, the inverse kinematics and singularity analysis are performed. A dynamic model is then built based on the obtained kinematics, and all parts of the structure are optimized using an evolutional algorithm. Finally, a CAD model of the structure is built based on the optimized dimensions and the model is applied to computational simulations of the gait rehabilitation, being thus ready for prototype construction.

Modern rehabilitation processes for neurological patients have been widely assisted by robotic structures, with continuous research and improvements. The use of robotic assistance in rehabilitation is a consolidated technique for upper limb training sessions. However, human gait robotic rehabilitation still needs further research and development. Based on that, this paper deals with the development of a novel active body weight support (BWS) system integrated with a serious game for poststroke patients. This paper starts with a brief review of the state of the art of applied technologies for gait rehabilitation. Next, it presents the obtained mathematical model followed by multibody synthesis techniques and meta-heuristic optimization to the proposed device. The control of the structure is designed using proportional integral derivative (PID) controllers tuned with meta-heuristic optimization and associated with a suppression function to perform assist-as-needed actions. Then, the prototype is integrated with a serious game designed specifically for this application. Finally, a pilot study is conducted with the structure and healthy volunteers. The results obtained show that the mobility of the novel BWS is as expected and the proposed system potentially offers a novel tool for gait training.

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