Two dof robotic platform for balance rehabilitation tasks

This paper presents the design of a 2 degrees of freedom (DoF) robotic platform, this mechanism is part of a novel rehabilitation active/passive balance system, which integrates virtual reality and acquisition of physiological signals. The design of the platform is based on kinematic and dynamic analysis of two four-bar mechanisms which govern the actuation of each DoF and the implementation of a PD controller to ensure desired trajectories in rehabilitation procedures. In order to test the performance of the platform under real condition before construction, a CAD model of this is taken into a simulation environment through Simscape Multibody of Matlab. Finally, the platform designed and the rest of the system of balance rehabilitation are shown.