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Development of a Novel Parallel Structure for Gait Rehabilitation

Development of a Novel Parallel Structure for Gait Rehabilitation

Rogério Sales Gonçalves, Lucas Antônio Oliveira Rodrigues
Copyright: © 2020 |Pages: 40
ISBN13: 9781799801375|ISBN10: 1799801373|EISBN13: 9781799801382
DOI: 10.4018/978-1-7998-0137-5.ch003
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MLA

Gonçalves, Rogério Sales, and Lucas Antônio Oliveira Rodrigues. "Development of a Novel Parallel Structure for Gait Rehabilitation." Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics, edited by Maki K. Habib, IGI Global, 2020, pp. 42-81. https://doi.org/10.4018/978-1-7998-0137-5.ch003

APA

Gonçalves, R. S. & Rodrigues, L. A. (2020). Development of a Novel Parallel Structure for Gait Rehabilitation. In M. Habib (Ed.), Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics (pp. 42-81). IGI Global. https://doi.org/10.4018/978-1-7998-0137-5.ch003

Chicago

Gonçalves, Rogério Sales, and Lucas Antônio Oliveira Rodrigues. "Development of a Novel Parallel Structure for Gait Rehabilitation." In Handbook of Research on Advanced Mechatronic Systems and Intelligent Robotics, edited by Maki K. Habib, 42-81. Hershey, PA: IGI Global, 2020. https://doi.org/10.4018/978-1-7998-0137-5.ch003

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Abstract

This chapter deals with the development of a new active body weight support, based on a parallel robotic structure with 5 degrees of freedom. Initially, a revision of the main structures applied in body weight support for gait rehabilitation is presented, along with a conceptual model of the proposed structure. Therefore, the inverse kinematics and singularity analysis are performed. A dynamic model is then built based on the obtained kinematics, and all parts of the structure are optimized using an evolutional algorithm. Finally, a CAD model of the structure is built based on the optimized dimensions and the model is applied to computational simulations of the gait rehabilitation, being thus ready for prototype construction.

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