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

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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaMultibody Mechatronic Systems - MuSMe 2021
EditoresMartín Pucheta, Alberto Cardona, Sergio Preidikman, Rogelio Hecker
EditorialSpringer Science and Business Media B.V.
Páginas64-73
Número de páginas10
ISBN (versión impresa)9783030887506
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 - Virtual, Online
Duración: 12 oct 202115 oct 2021

Serie de la publicación

NombreMechanisms and Machine Science
Volumen110 MMS
ISSN (versión impresa)2211-0984
ISSN (versión digital)2211-0992

Conferencia

Conferencia7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021
CiudadVirtual, Online
Período12/10/2115/10/21

Huella

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