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

[+] Author and Article Information
Jokin Aginaga

Associate Professor, Institute of Smart Cities (ISC), Public University of Navarre, Iruñea-Pamplona, 31006 Spain

Xabier Iriarte

Associate Professor, Institute of Smart Cities (ISC), Public University of Navarre, Iruñea-Pamplona, 31006 Spain

Aitor Plaza

Associate Professor, Department of Mechanical, Energetics and Materials Engineering, Public University of Navarre, Iruñea-Pamplona, 31006 Spain

Vicente Mata

Professor, Centro de Investigación en Ingeniería Mecánica, Universitat Politècnica de València, Valencia, 46022 Spain

1Corresponding author.

ASME doi:10.1115/1.4040168 History: Received July 31, 2017; Revised April 18, 2018


Rehabilitation robots are increasingly being developed in order to be used by injured people to perform exercise and training. Parallel robots can be an ideal solution for this purpose due to its inherent properties for lower mobility tasks. This paper presents the design of a new four degree-of-freedom (DOF) parallel robot for knee rehabilitation. Needed four DOFs are two translations in a vertical plane and two rotations, one of them around the direction perpendicular to the vertical plane and the other one with respect to a vector normal to the mobile platform. These four DOFs are reached by means of two RPRR limbs and two UPS limbs linked to an articulated mobile platform. 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 translation. It is concluded that the proposed mechanism reaches the desired output movements in order to carry out rehabilitation manoeuvres.

Copyright (c) 2018 by ASME
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