Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants

Marco García; Esther Lugo-González; Manuel Arias-Montiel; Ricardo Tapia-Herrera

doi:10.1007/978-3-030-88751-3_7

Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants

Marco García, Esther Lugo-González, Manuel Arias-Montiel, Ricardo Tapia-Herrera

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper develops the kinematics of a parallel mechanism with topology 5R. This mechanism focuses on the lower limb rehabilitation of hypotonic infants. At first, the inverse kinematics is solved to generate circular and ellipsoidal trajectories with the objective of demonstrating that specific trajectories, such as flexion/extension, can be generated during the rehabilitation for an infant with hypotonia. The performed analysis to obtain the dimensions of the links is shown, as well as the equations of the proposed mechanism motion. The velocity analysis is also obtained, which will be later used to design and implement the control system necessary to generate the movement in the rehabilitation therapy. As a numerical result, the inverse kinematics validation is presented by performing simulations in ADAMS View software.

Original language	English
Title of host publication	Multibody Mechatronic Systems - MuSMe 2021
Editors	Martín Pucheta, Alberto Cardona, Sergio Preidikman, Rogelio Hecker
Publisher	Springer Science and Business Media B.V.
Pages	64-73
Number of pages	10
ISBN (Print)	9783030887506
DOIs	https://doi.org/10.1007/978-3-030-88751-3_7
State	Published - 2022
Externally published	Yes
Event	7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 - Virtual, Online Duration: 12 Oct 2021 → 15 Oct 2021

Publication series

Name	Mechanisms and Machine Science
Volume	110 MMS
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021
City	Virtual, Online
Period	12/10/21 → 15/10/21

Keywords

Hypotonia
Inverse kinematics
Parallel robot
Trajectory

Access to Document

10.1007/978-3-030-88751-3_7

Cite this

García, M., Lugo-González, E., Arias-Montiel, M., & Tapia-Herrera, R. (2022). Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants. In M. Pucheta, A. Cardona, S. Preidikman, & R. Hecker (Eds.), Multibody Mechatronic Systems - MuSMe 2021 (pp. 64-73). (Mechanisms and Machine Science; Vol. 110 MMS). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-030-88751-3_7

García, Marco ; Lugo-González, Esther ; Arias-Montiel, Manuel et al. / Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants. Multibody Mechatronic Systems - MuSMe 2021. editor / Martín Pucheta ; Alberto Cardona ; Sergio Preidikman ; Rogelio Hecker. Springer Science and Business Media B.V., 2022. pp. 64-73 (Mechanisms and Machine Science).

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abstract = "This paper develops the kinematics of a parallel mechanism with topology 5R. This mechanism focuses on the lower limb rehabilitation of hypotonic infants. At first, the inverse kinematics is solved to generate circular and ellipsoidal trajectories with the objective of demonstrating that specific trajectories, such as flexion/extension, can be generated during the rehabilitation for an infant with hypotonia. The performed analysis to obtain the dimensions of the links is shown, as well as the equations of the proposed mechanism motion. The velocity analysis is also obtained, which will be later used to design and implement the control system necessary to generate the movement in the rehabilitation therapy. As a numerical result, the inverse kinematics validation is presented by performing simulations in ADAMS View software.",

keywords = "Hypotonia, Inverse kinematics, Parallel robot, Trajectory",

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García, M, Lugo-González, E, Arias-Montiel, M & Tapia-Herrera, R 2022, Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants. in M Pucheta, A Cardona, S Preidikman & R Hecker (eds), Multibody Mechatronic Systems - MuSMe 2021. Mechanisms and Machine Science, vol. 110 MMS, Springer Science and Business Media B.V., pp. 64-73, 7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021, Virtual, Online, 12/10/21. https://doi.org/10.1007/978-3-030-88751-3_7

Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants. / García, Marco; Lugo-González, Esther; Arias-Montiel, Manuel et al.
Multibody Mechatronic Systems - MuSMe 2021. ed. / Martín Pucheta; Alberto Cardona; Sergio Preidikman; Rogelio Hecker. Springer Science and Business Media B.V., 2022. p. 64-73 (Mechanisms and Machine Science; Vol. 110 MMS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper develops the kinematics of a parallel mechanism with topology 5R. This mechanism focuses on the lower limb rehabilitation of hypotonic infants. At first, the inverse kinematics is solved to generate circular and ellipsoidal trajectories with the objective of demonstrating that specific trajectories, such as flexion/extension, can be generated during the rehabilitation for an infant with hypotonia. The performed analysis to obtain the dimensions of the links is shown, as well as the equations of the proposed mechanism motion. The velocity analysis is also obtained, which will be later used to design and implement the control system necessary to generate the movement in the rehabilitation therapy. As a numerical result, the inverse kinematics validation is presented by performing simulations in ADAMS View software.

AB - This paper develops the kinematics of a parallel mechanism with topology 5R. This mechanism focuses on the lower limb rehabilitation of hypotonic infants. At first, the inverse kinematics is solved to generate circular and ellipsoidal trajectories with the objective of demonstrating that specific trajectories, such as flexion/extension, can be generated during the rehabilitation for an infant with hypotonia. The performed analysis to obtain the dimensions of the links is shown, as well as the equations of the proposed mechanism motion. The velocity analysis is also obtained, which will be later used to design and implement the control system necessary to generate the movement in the rehabilitation therapy. As a numerical result, the inverse kinematics validation is presented by performing simulations in ADAMS View software.

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García M, Lugo-González E, Arias-Montiel M, Tapia-Herrera R. Kinematics of a Robotic System for Rehabilitation of Lower Members in Hypotonic Infants. In Pucheta M, Cardona A, Preidikman S, Hecker R, editors, Multibody Mechatronic Systems - MuSMe 2021. Springer Science and Business Media B.V. 2022. p. 64-73. (Mechanisms and Machine Science). doi: 10.1007/978-3-030-88751-3_7