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Design and Simulation of Gait Rehabilitation Parallel Robotic System

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New Advances in Mechanisms, Mechanical Transmissions and Robotics (MTM&Robotics 2020)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 88))

Abstract

The aim of this paper is to present design considerations regarding a parallel robotic system for gait rehabilitation of patients who have suffered a stroke. The paper focuses on how the design of the robot meets anthropometric and motion amplitude requirements. The robotic system is analyzed using commercially available software, thus proving the workability in medical gait recovery. CAD based simulations are made to show the performance of the robot, using as inputs data Optitrack Motion Capture tracking. A set of testing protocols for the robotic system are described in order to clearly show the operation features of the robot.

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Acknowledgment

The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” co-financed by the European Regional Development Fund through the Competitiveness Operational Programme 2014-2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.

Author information

Authors and Affiliations

  1. CESTER-Research Center for Industrial Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Bogdan Gherman, Iuliu Nadas, Paul Tucan, Giuseppe Carbone & Doina Pisla

  2. National Institute for Research and Development of Isotopic and Molecular Technologies, Cluj-Napoca, Romania

    Iuliu Nadas

  3. Department of Mechanical, Energy, and Management Engineering, University of Calabria, Rende, Italy

    Giuseppe Carbone

Authors
  1. Bogdan Gherman
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  2. Iuliu Nadas
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  3. Paul Tucan
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  4. Giuseppe Carbone
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  5. Doina Pisla
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Corresponding author

Correspondence to Doina Pisla .

Editor information

Editors and Affiliations

  1. Department of Mechatronics, Polytechnic University of Timişoara, Timișoara, Romania

    Erwin-Christian Lovasz

  2. Department of Mechatronics, Polytechnic University of Timişoara, Timișoara, Romania

    Inocentiu Maniu

  3. Department of Mechanical Engineering, Mechatronics and Robotics, Gheorghe Asachi Technical University of Iasi, Iași, Romania

    Ioan Doroftei

  4. Mechatronics, University of Craiova, Craiova, Romania

    Mircea Ivanescu

  5. Department of Mechatronics, Polytechnic University of Timişoara, Timișoara, Romania

    Corina-Mihaela Gruescu

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Gherman, B., Nadas, I., Tucan, P., Carbone, G., Pisla, D. (2021). Design and Simulation of Gait Rehabilitation Parallel Robotic System. In: Lovasz, EC., Maniu, I., Doroftei, I., Ivanescu, M., Gruescu, CM. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics . MTM&Robotics 2020. Mechanisms and Machine Science, vol 88. Springer, Cham. https://doi.org/10.1007/978-3-030-60076-1_17

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