Exercise Programming and Control System of the Leg Rehabilitation Robot RRH1

Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 422)


A robot for rehabilitation of the lower extremities has been developed at the Technical University of Łódź (TUL) to allow early treatment of patients after injury or in coma. The device is designed to exercise patients lying in their beds and can fit most of hospital appliances. The main advantage over existing similar solutions is that it provides simultaneous two-plane motion exercises for the knee and the hip. One of the methods for programming the exercises is following the therapist’s movements and recording trajectories. Compliance control applied to each axis allows detecting the patient’s force counteraction and muscle spasticity. Additionally, various protection systems that allow the robot to be used for rehabilitation therapy of persons with locomotive disabilities are presented.


Local Controller Main Controller Distribute Control System Rehabilitation Robot Repeat Mode 
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Copyright information

© Springer London 2012

Authors and Affiliations

  1. 1.Institute of Automatic ControlTechnical University of ŁódźŁódźPoland

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