A new concept of parallel robot for rehabilitation and fitness: The Lambda

被引：44

作者：

Bouri, M. ^{[1
]}

Le Gall, B. ^{[1
]}

Clavel, R. ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Lab Robot Syst, Stn 9, CH-1015 Ecublens, Switzerland

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年

关键词：

Rehabilitation; fitness; sport; parallel robotics; control; security;

D O I：

10.1109/ROBIO.2009.5420481

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

a new rehabilitation and fitness robot called the "Lambda Robot" is presented. This paper introduces a concept of a parallel robot that may be used for mobilization of the lower extremities. Hence, it may be used for fitness as well as for rehabilitation for people out of coma, after a surgical operation or for paraplegics. The kinematics and the construction aspects of the twice three degrees of freedom "Lambda robot" are presented. The different configurations it deals with are discussed to point out the advantages of this structure. Finally, the control and security aspects are presented. The constructed prototype is entirely instrumented with position and force sensors at each motorized articulation. This allows controlling all the movements and the corresponding generated forces.

引用

页码：2503 / 2508

页数：6

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