A Mobile Parallel Manipulator for the Elbow Rehabilitation of Parkinsonian Patients
- Resource Type
- Conference
- Authors
- GUL, Rabia; SENER, Saika; HOCAOGLU, Elif
- Source
- 2020 Medical Technologies Congress (TIPTEKNO) Medical Technologies Congress (TIPTEKNO), 2020. :1-4 Nov, 2020
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Engineering Profession
Photonics and Electrooptics
Robotics and Control Systems
Signal Processing and Analysis
Robots
Robot kinematics
Mathematical model
Task analysis
Medical treatment
Manipulator dynamics
Diseases
Parkinson’s Disease
Motor Learning
Elbow Rehabilitation
Rhythmic Dynamic Task
Parallel Robots
- Language
- ISSN
- 2687-7783
This study presents a two degrees of freedom (DoF) parallel manipulator that enables Parkinsonian Patients to regularly do the assigned rhythmic tasks in order to reduce the symptoms of motor disorders. Considering the elderly patients who constitute the majority of the Parkinsonians, the robot is designed to be portable to serve people to consistently take therapy at home. Moreover, the robotic platform is designed to be adjustable for any anthropometric size of a human arm in order to allow people to ergonomically perform tasks. The kinematic analysis and control of the five-bar parallel robot are carried out to ensure that users can do upper extremity coordination on the anthropometrically compatible workspace.