A kinematic model and dynamic simulation of a parallel robotic structure for lower limb rehabilitation

Abstract

The paper presents the kinematic model and dynamic simulation of a parallel robotic structure for lower limb rehabilitation of post-stroke bedridden patients. The parallel robotic structure has a modular construction that enables the motion of each targeted joint: hip, knee and ankle. The kinematic model and singularities of the robotic structure are presented. A comparison between the results obtained through numerical simulation of kinematic model using Matlab and the ones obtained through graphical simulation of the robotic structure using Siemens NX is reported along with a dynamic simulation of the robotic structure carried on using Motion module provided also by Siemens NX.