Abstract
The paper presents the control architecture of a parallel robot for lower limb rehabilitation of bedridden patients. The control system of the robot is composed of industrial class equipment in order to obtain a stable solution and provide safe operation during the rehabilitation process. The graphical user interface is developed in collaboration with the medical specialists, to fit the requirements of the rehabilitation procedure and provide intuitive help for the operator during the rehabilitation procedure. The control system of the robot is validated using experimental laboratory tests performed on healthy subjects.
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Acknowledgements
This work was supported by a grant from the Romanian Ministry of Research and Innovation, project number PN-III-P2-2.1-PED-2021-3430/608PED/2022 (Hope2Walk) within PNCDI III and by the project New frontiers in adaptive modular robotics for patient-centered medical rehabilitation – ASKLEPIOS, funded by European Union – NextGenerationEU and Romanian Government, under National Recovery and Resilience Plan for Romania, contract no. 760071/23.05.2023, code CF 121/15.11.2022, with Romanian Ministry of Research, Innovation and Digitalization, within Component 9, investment I8.
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Tucan, P. et al. (2024). On the Control Architecture and Functional Validation of the Control System for a Lower Limb Rehabilitation Robot. In: Doroftei, I., Kiss, B., Baudoin, Y., Taqvi, Z., Keller Fuchter, S. (eds) 25th International Symposium on Measurements and Control in Robotics. ISMCR 2023. Mechanisms and Machine Science, vol 154. Springer, Cham. https://doi.org/10.1007/978-3-031-51085-4_11
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DOI: https://doi.org/10.1007/978-3-031-51085-4_11
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