Abstract
The paper presents the novel design of the ParReEx-elbow robotic system for the rehabilitation of the upper limb, namely the elbow flexion-extension and pronation-supination. Initially designed for post-stroke rehabilitation, the robot is now fitted for brachial monoparesis treatment, a manifestation of a broad range of neurologic diseases. Following the critical feedback and positive outcomes of previously performed clinical trials an improved design has been proposed. Validation simulations (FEM analysis and dynamic simulation) using the novel CAD robot model are presented, the results showing that the robot can be efficiently used for the proposed medical task.
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Acknowledgments
This work was supported by a grant of the Romanian Ministry of Research and Innovation, CCCDI – UEFISCDI, project number PN-III-P2-2.1-PED-2019-3022/546PED/2020 (NeuroAssist) and the project POCU/380/6/13/123927 – ANTREDOC, “Entrepreneurial competencies and excellence research in doctoral and postdoctoral studies programs”, project co-funded from the European Social Fund through the Human Capital Operational Program 2014–2020.
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Gherman, B., Tucan, P., Vaida, C., Carbone, G., Pisla, D. (2022). Novel Design of the ParReEx-Elbow Parallel Robot for the Rehabilitation of Brachial Monoparesis. In: Rauter, G., Carbone, G., Cattin, P.C., Zam, A., Pisla, D., Riener, R. (eds) New Trends in Medical and Service Robotics. MESROB 2021. Mechanisms and Machine Science, vol 106. Springer, Cham. https://doi.org/10.1007/978-3-030-76147-9_5
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DOI: https://doi.org/10.1007/978-3-030-76147-9_5
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