The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot\ntrajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises.\nBased on the kinematics and dynamics of a parallel robot, a MATLAB programwas developed in order to calculate the length of the\nactuators, the actuators� forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated\nlength of the actuators and the actuators� forces were used by motion analysis in SolidWorks in order to simulate different foot\ntrajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot\ntrajectories of the participants. Kinect camera was used to track the motion of the leg�s model placed on the robot. The results\ndemonstrate the robot�s capability to perform a full range of various rehabilitation exercises.
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