Abstract
This paper discusses the design of lower limb rehabilitation device based on a five-bar parallel mechanism. The proposed mechanism reproduces exercises for knee rehabilitation, wherein the end-effector of the five-bar mechanism guides patient’s leg. Forward and inverse position kinematics of the mechanism was revised. Detailed mechanical design using CAD was performed and it was used for deformation analysis and construction of the mechanical structure.
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Acknowledgments
Authors thank to CRIQ specialists for their help in the selection of exercises and to IPN-SIP for the financial support.
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Chaparro-Rico, B.D., Castillo-Castaneda, E., Maldonado-Echegoyen, R. (2015). Design of a Parallel Mechanism for Knee Rehabilitation. In: Ceccarelli, M., Hernández Martinez, E. (eds) Multibody Mechatronic Systems. Mechanisms and Machine Science, vol 25. Springer, Cham. https://doi.org/10.1007/978-3-319-09858-6_47
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DOI: https://doi.org/10.1007/978-3-319-09858-6_47
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