Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is most common type stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions patients neurological impairments. In cases, robotic exoskeletons have to be aligned human joints natural arm movements. This a challenging task achieve one biomechanically complex body, i.e., shoulder. Therefore, specific...

This paper presents a framework for generating optimal motor trajectories spherical parallel manipulator (SPM) with revolute joints, actuated by servomotors default internal position control settings. The proposed consists of three phases. First, an approach to obtain unique forward kinematics is introduced, in order relate the angular positions orientation SPM top mobile platform. Then, configuration space defined using numerical procedures, guarantee absence singularities and collisions...

In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis general SPM revisited the proposed formulated in form easy-to-follow algorithms that are described detail. A graphical verification method using computer-aided-design (CAD) models presented together numerical experimental examples confirm correctness approach. It expected can be applied SPMs different...

This paper presents the design and optimization process of a Virtual Biomechanical Shoulder Robot Model (VBSRM) based on 6-4 parallel mechanism. To address challenges posed by manipulators specific biomechanical constraints shoulder joint, comprehensive analysis is conducted. First, kinematic model VBSRM developed, followed an investigation its geometric model. obtain optimal design, performance objectives such as condition number, norm actuator force, stiffness are identified optimized....

Abstract The robotic shoulder rehabilitation exoskeletons that do not take into consideration all degrees-of-freedom (DOFs) lead to undesirable interaction forces and cause discomfort the patient due joint axes misalignments between exoskeleton joints. In order contribute solution of this human–robot compatibility issue, we present kinematic modeling analysis a novel bio-inspired 5-DOFs hybrid mechanism (HRM). human limbs are regarded as inner passive restrained links in proposed constrained...

The aim of this paper is to introduce a scalable and adaptable joint trajectory generator based on recurrent neural network. As main application we target highly redundant kinematic structures like humanoid multi-legged robotic systems. network architecture consists set leak integrators which outputs are limited by sigmoidal activation functions. circuit exhibits very rich dynamics capable generate complex periodic signals without the direct excitation external inputs. Spontaneous internal...

The appropriate functionality of the human shoulder including girdle movements is crucial for effective use arm during activities daily living (ADL). It important to assist all degrees-of-freedom (DOFs) when implementing robotic exoskeletons rehabilitation purposes increase range motion (ROM) and avoid any joint axes misalignments between robot human's that cause discomfort user. In this paper, a new lightweight exoskeleton proposed, which can provide anatomically accurate neurologically...

Due to the specificity of current world, there is a spike in demand for robotic exoskeletons various types and purposes. An increase elderly populace, an demanding jobs, rehabilitation are driving factors field biomechatronics exoskeleton research. The four main questions, such as human bionic compliance, optimization exoskeletons, reduction costs efficiencies on front line In this work, one solutions, namely application four-bar mechanisms, explored detail. This paper comprehensive review...

The use of upper limb rehabilitation robots has improved stroke patients' motor recovery while reducing the workload for physical therapists. Robot-supported training potential to be more intense, prolonged, repetitive, and task-focused than manual arm training. design robotic shoulder exoskeletons must take certain factors into account align with shoulder, which is human body's most biomechanically complex joint. When using rehabilitation, it crucial support all degrees freedom (DOFs)...