Abstract
Given the increasing number of patients suffering from stroke related upper limb spasticity, there is a strong trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-elbow parallel robot, designed for elbow and forearm spasticity treatment. The model is based on the virtual work concept and the lumped masses paradigm. The generated model allows for a detailed examination of the ParReEx-elbow robot's dynamic capabilities and the generation of an accurate and efficient robotic-assisted protocol for spasticity treatment.
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Acknowledgement
This research was funded by a grant from the Romanian Ministry of Research and Innovation, CCCDI—UEFISCDI, project number PN-III-P2-2.1-PED-2019-3022/546PED/2020 (NeuroAssist) within PNCDI III, and by the project POCU/380/6/13/123927-ANTREDOC, “Entrepreneurial competencies and excellence research in doctoral and postdoctoral studies programs”, co-funded from the European Social Fund through the Human Capital Operational Program 2014–2020.
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Banica, A. et al. (2022). Inverse Dynamic Modeling of a Parallel Elbow Rehabilitation Robot for Spasticity Treatment. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_46
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DOI: https://doi.org/10.1007/978-3-031-04870-8_46
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