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Kinematic Design of a New Four Degree-of-Freedom Parallel Robot for Knee Rehabilitation

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Kinematic Design of a New Four Degree-of-Freedom Parallel Robot for Knee Rehabilitation

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dc.contributor.author Aginaga, J. es_ES
dc.contributor.author Iriarte Goñi, X. es_ES
dc.contributor.author Plaza, A. es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.date.accessioned 2020-03-11T10:02:41Z
dc.date.available 2020-03-11T10:02:41Z
dc.date.issued 2018-09 es_ES
dc.identifier.issn 1050-0472 es_ES
dc.identifier.uri http://hdl.handle.net/10251/138702
dc.description.abstract [EN] Rehabilitation robots are increasingly being developed in order to be used by injured people to perform exercise and training. As these exercises do not need wide range movements, some parallel robots with lower mobility architecture can be an ideal solution for this purpose. This paper presents the design of a new four degree-of-freedom (DOF) parallel robot for knee rehabilitation. The required four DOFs are two translations in a vertical plane and two rotations, one of them around an axis perpendicular to the vertical plane and the other one with respect to a vector normal to the instantaneous orientation of the mobile platform. These four DOFs are reached by means of two RPRR limbs and two UPS limbs linked to an articulated mobile platform with an internal DOF. Kinematics of the new mechanism are solved and the direct Jacobian is calculated. A singularity analysis is carried out and the gained DOFs of the direct singularities are calculated. Some of the singularities can be avoided by selecting suitable values of the geometric parameters of the robot. Moreover, among the found singularities, one of them can be used in order to fold up the mechanism for its transportation. it is concluded that the proposed mechanism reaches the desired output movements in order to carry out rehabilitation maneuvers in a singularity-free portion of its workspace. es_ES
dc.description.sponsorship This work was funded by the Plan Nacional de I + D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) under the projects DPI2013-44227-R and DPI2017-84201-R. es_ES
dc.language Inglés es_ES
dc.publisher ASME International es_ES
dc.relation info:eu-repo/grantAgreement/MINECO//DPI2013-44227-R/ES/METODOLOGIA DE DISEÑO DE SISTEMAS BIOMECATRONICOS. APLICACION AL DESARROLLO DE UN ROBOT PARALELO HIBRIDO PARA DIAGNOSTICO Y REHABILITACION/ es_ES
dc.relation info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/ es_ES
dc.relation.ispartof Journal of Mechanical Design es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title Kinematic Design of a New Four Degree-of-Freedom Parallel Robot for Knee Rehabilitation es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1115/1.4040168 es_ES
dc.rights.accessRights Cerrado es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.description.bibliographicCitation Aginaga, J.; Iriarte Goñi, X.; Plaza, A.; Mata Amela, V. (2018). Kinematic Design of a New Four Degree-of-Freedom Parallel Robot for Knee Rehabilitation. Journal of Mechanical Design. 140(9). https://doi.org/10.1115/1.4040168 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1115/1.4040168 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 140 es_ES
dc.description.issue 9 es_ES
dc.relation.pasarela S\387440 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
dc.contributor.funder Ministerio de Economía y Empresa es_ES
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