下肢の診断・リハビリ用ロボットシステムの設計指針
Design of a Robotic System for Diagnosis and Rehabilitation of Lower Limbs
理学療法士の手法や先行研究を踏まえ、下肢リハビリ・診断ロボットの設計ガイドを提案し、RPU+3UPSパラレルロボットによる事例で有効性を示した論文。
著者: Pedro Araujo Gómez, Miguel Díaz Rodríguez, Vicente Amela
分類: cs.RO, physics.med-ph
原文アブストラクト
Currently, lower limb robotic rehabilitation is widely developed, However, the devices used so far seem to not have a uniform criteria for their design, because, on the contrary, each developed mechanism is often presented as if it does not take into account the criteria used in previous designs. On the other hand, the diagnosis of lower limb from robotic devices has been little studied. This chapter presents a guide for the design of robotic devices in diagnosis of lower limbs, taking into account the mobility of the human leg and the techniques used by physiotherapists in the execution of exercises and the rehabilitation of rehabilitation and diagnosis tests, as well as the recommendations made by various authors, among other aspects. The proposed guide is illustrated through a case study based on a parallel robot RPU+3UPS able to make movements that are applied during the processes of rehabilitation and diagnosis. The proposal presents advantages over some existing devices such as its load capacity that can support, and also allows you to restrict the movement in directions required by the rehabilitation and the diagnosis movements.