RAISE - An Innovative Parallel Robotic System for Lower Limb Rehabilitation

The Impact of Robotic Rehabilitation on the Motor System in Neurological Diseases. A Multimodal Neurophysiological Approach

“…The two robotic systems were designed for the upper limb rehabilitation with their particularities detailed below: ASPIRE ( Figure 1 a) is a parallel robotic system with three Degrees of Freedom (DOF) based on a spherical architecture designed for the shoulder rehabilitation and targets the following motions: (a) shoulder flexion/extension and adduction/abduction; (b) forearm pronation/supination. The architecture of the mechanism allows a generalized movement on the sphere surface, which has the following advantages: (i) it enlarges the universality degree since the patient is positioned with his shoulder near the center of the sphere, and the anthropometric variations do not impose a problem; (b) the robotic system enables the definition of a wide range of exercises with various amplitudes and un-constrained working volume (including both simple and combined movements) which increase the shoulder mobility through interactive trajectories [ 18 , 19 , 51 ]; ParReEx ( Figure 1 b) is a parallel robotic system which consists of two independent (decoupled) modules: (a) ParReEx-elbow with two DOF, designed for the elbow flexion and pronation/supination motion; (b) ParReEx-wrist with two DOF, designed for the wrist flexion/extension and adduction/abduction. Both ParReEx modules are able to perform simple and complex exercises based on interactive trajectories [ 20 , 21 , 52 ].…”

“…ASPIRE ( Figure 1 a) is a parallel robotic system with three Degrees of Freedom (DOF) based on a spherical architecture designed for the shoulder rehabilitation and targets the following motions: (a) shoulder flexion/extension and adduction/abduction; (b) forearm pronation/supination. The architecture of the mechanism allows a generalized movement on the sphere surface, which has the following advantages: (i) it enlarges the universality degree since the patient is positioned with his shoulder near the center of the sphere, and the anthropometric variations do not impose a problem; (b) the robotic system enables the definition of a wide range of exercises with various amplitudes and un-constrained working volume (including both simple and combined movements) which increase the shoulder mobility through interactive trajectories [ 18 , 19 , 51 ];…”

Systematic Design of a Parallel Robotic System for Lower Limb Rehabilitation

“…In [14] a novel parallel robotic system was introduced with the capability of mobilizing all the large joints of the lower limb following feasible ranges of motion: hip, knee and ankle. Based on the discussions with medical experts (kinetotherapists and neurologists) several enhancements where made:…”

“…The upper extremity of the rail (12) forms a revolute joint (13) with the link be-tween the universal joint (7) (aligned with the hip) and the revolute joint (14) (aligned with the knee). The length of the link is adjustable before the exercises (to compensate the anthropomorphic variations) since the sledges (15) can be slid on the rail (16) adjusting the distance between the universal joint (7) and the revolute joint (14). The mechanical element that links the revolute joints (13) and (14) also has the anchor part for the upper segment of the lower limb (using also a revolute joint to allow the free rotation motion of the anchor element for compliance reasons to avoid trauma on the patients limb).…”

“…While the rail (19) is slid up and down, the angle α knee between links connected into the revolute joint (14) (adjacent to the knee) changes (provided that the motor (9) is not actuated). Just like in the third kinematic chain, a horizontal motion of the rail (19) is necessary (since the revolute joint (22) is constrained to move on a circular path around the revolute joint (14)). The same approach with an assembly with two back to back sledges was used, the first allowing the actuated linear motion of the rail (19) through the rail (21), and the second one sliding freely on the rail (6).…”