Work

Aspects Concerning Parallel Robots Used in Rehabilitation

Year: 2025

Type: article

Abstract: This study presents a comprehensive simulation-based comparative analysis of four parallel robotic mechanisms, each developed to assist patient recovery through adaptive movement control and feedback, particularly for upper and lower limb therapy. Kinematic and dynamic models were developed and implemented in Matlab-Simulink, integrating force control via conventional regulators and real-time interaction with simulated patient-applied forces. The structural differences between spherical, rotational, and universal joints in each kinematic chain variant were evaluated. To systematically determine the most suitable design, a detailed Analytic Hierarchy Process was applied considering performance, precision, stability, and actuator effort. The study emphasizes the advantages of parallel robots in rehabilitation due to their precision, rigidity, and compact design, highlighting the potential of parallel robotic systems in customized and adaptive physical therapy interventions. These insights contribute to the optimal design selection of clinical motor therapy robots.

Source: Bioengineering

DOI: 10.3390/bioengineering12111224

Authors: Adrian Todor, Daniel Vasile Banyai, Cornel Brisan, Adriana Daniela Banyai

Institutions: Iuliu Hațieganu University of Medicine and Pharmacy, Technical University of Cluj-Napoca

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: gold

Estimated APC paid: $3,258