This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is co...
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ISBN:
(纸本)9781479918096
This paper describes the design, control and implementation of a sensorized robotic platform for versatile rehabilitation of stroke patients living with lower extremity neuromuscular deficit. The proposed device is composed of a six-degree-of-freedom actuation mechanism with a large workspace for lower extremity rehabilitation regimens. With a small footprint, lightweight, and low-cost design and a wireless interface this device is portable and well-suited for at-home and in-clinic use. A custom six-degree-of-freedom force/torque sensor was developed to measure real-time patient forces, and an admittance controller was implemented to provide assistive motion therapy. The results obtained show the suitability of this device for human-robot interaction for the implementation of lower extremity rehabilitation therapy.
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