Abstract
This paper presents the development of the inverse dynamic model for the RECOVER parallel robot, which is used in lower limbs stroke rehabilitation, more precisely in rehabilitation exercises for hip flexion/extension, knee flexion, plantar flexion/dorsiflexion, and inversion/eversion of the ankle. The inverse dynamic model is obtained using the concept of virtual work and the lumped masses approach. The developed model facilitates in-depth analysis of the dynamic capabilities of the RECOVER robot and the development of a precise and effective robotic-assisted procedure for lower limb rehabilitation.
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Acknowledgements
This work was supported by a grant from the Romanian Ministry of Research and Innovation, CCCDI—UEFISCDI, project number PN-III-P2-2.1-PED-2021-3430/608PED/2022 (Hope2Walk) within PNCDI III.
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Nadas, I. et al. (2023). Inverse Dynamic Modeling of a Parallel Robot for Lower Limb Rehabilitation. In: Doroftei, I., Nitulescu, M., Pisla, D., Lovasz, EC. (eds) Proceedings of SYROM 2022 & ROBOTICS 2022. IISSMM 2022. Mechanisms and Machine Science, vol 127. Springer, Cham. https://doi.org/10.1007/978-3-031-25655-4_19
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