2021
DOI: 10.1088/1757-899x/1129/1/012068
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Design of mechanisms of a robotic system for rehabilitation of the lower limbs

Abstract: The article describes the main stages of developing a robotic system for the rehabilitation of the lower limbs based on the “tripteron” robot. The structure of a robotic system has been designed, consisting of a 3-PRRR parallel mechanism, which provides the angles of rotation of all joints of the patient’s leg required for rehabilitation and a passive orthosis for supporting the limb. At the first stage, the positions of the active mechanism links are determined. The output link of only one kinematic chain, ma… Show more

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“…In previous works Ahmetzhanov et al (2022); Voloshkin et al (2020), the design of a robotic system (RS) for the rehabilitation of the patient's lower limbs was considered. The RS consists of an active 3-PRRR manipulator for moving the patient's foot fixed on a movable platform, and a serial RRRR manipulator used as a passive orthosis to support the patient's lower limb fixed on an adjustable chair Figure 1.…”
Section: Orthosis Design and Development Of A Suspension Lever Mechan...mentioning
confidence: 99%
“…In previous works Ahmetzhanov et al (2022); Voloshkin et al (2020), the design of a robotic system (RS) for the rehabilitation of the patient's lower limbs was considered. The RS consists of an active 3-PRRR manipulator for moving the patient's foot fixed on a movable platform, and a serial RRRR manipulator used as a passive orthosis to support the patient's lower limb fixed on an adjustable chair Figure 1.…”
Section: Orthosis Design and Development Of A Suspension Lever Mechan...mentioning
confidence: 99%