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An Optimized Design of a Parallel Robot for Gait Training

Maddalena, M; Saadat, M; Rastegarpanah, A; Loureiro, RCV; (2017) An Optimized Design of a Parallel Robot for Gait Training. In: Amirabdollahian, F and Burdet, E and Masia, L, (eds.) 2017 International Conference on Rehabilitation Robotics (ICORR). (pp. pp. 418-423). IEEE: London, UK. Green open access

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Abstract

The guidelines for enhancing robot-assisted training for post-stroke survivors head towards increasing exercise realism and variability; in particular lower limb rehabilitation needs the patient to feel challenged to adapt his locomotion and dynamic balance capabilities to different virtual ground scenarios. This paper proposes a design for a robot whose end-effector acts as a footplate to be in permanent contact with the user's foot during practice: the structure is such that it enables the user's foot to rotate around three axis, differently from what is currently available in the research for gait training; the parallel kinematic structure and the dimensional synthesis allow a suitable range of motion and aim at limiting device mass, footprint and reaction forces on the actuators when rendering virtual ground. The employed methodology has been validated using ground reaction forces data relative to stroke survivors.

Type: Proceedings paper
Title: An Optimized Design of a Parallel Robot for Gait Training
Event: International Conference on Rehabilitation Robotics (ICORR)
Location: London, UK
Dates: 17 - 20 July 2017
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/ICORR.2017.8009283
Publisher version: https://doi.org/10.1109/ICORR.2017.8009283
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Force, Foot, Training, Legged locomotion, Medical treatment, Kinematics
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Ortho and MSK Science
URI: https://discovery.ucl.ac.uk/id/eprint/10070814
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