This paper presents a preliminary design of a wearable hybrid (parallel-serial) robot for wrist and forearm rehabilitation. The proposed robot design includes novel mechanisms (RRPP and RRRR) for joint misalignment compensation. The prototype of the wearable rehabilitation robot has been manufactured by 3D printing and tested. From the evaluation of the design, the proposed robot is able to assist rotation of the wrist and forearm for rehabilitation. With the features of lightweight, portable and safer design, we expect the proposed wearable robot is suitable for in-home rehabilitation.
Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation / Liu, Ying-Chi; Botta, Andrea; Quaglia, Giuseppe; Takeda, Yukio (CISM INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES). - In: ROMANSY 24 - Robot Design, Dynamics and Control Proceedings of the 24th CISM IFToMM SymposiumELETTRONICO. - Singapore : Springer, 2022. - ISBN 978-3-031-06408-1. - pp. 53-61 [10.1007/978-3-031-06409-8_5]
Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation
Botta, Andrea;Quaglia, Giuseppe;
2022
Abstract
This paper presents a preliminary design of a wearable hybrid (parallel-serial) robot for wrist and forearm rehabilitation. The proposed robot design includes novel mechanisms (RRPP and RRRR) for joint misalignment compensation. The prototype of the wearable rehabilitation robot has been manufactured by 3D printing and tested. From the evaluation of the design, the proposed robot is able to assist rotation of the wrist and forearm for rehabilitation. With the features of lightweight, portable and safer design, we expect the proposed wearable robot is suitable for in-home rehabilitation.File | Dimensione | Formato | |
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Manuscript_RoManSy2022_Liu_v9.pdf
Open Access dal 24/06/2023
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https://hdl.handle.net/11583/2969554