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G. Rosati, G. Volpe, A. Biondi, G. Boschetti, and A. Rossi
Trajectory planning of a two-link rehabilitation robot arm
In Proceedings of the 12th IFToMM World Congress, Besancon, France, June 18-21 2007

Abstract: In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patientís arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm analyzed is the two degrees of freedom serial structure of the wire-based robot MariBot, which was designed and realized at the Robotics Laboratory of DIMEG (Department of Innovation in Mechanics and Management, University of Padua, Padua, Italy).


Topic: Medicals
Activity: MariBot: 5 d.o.f. cable-suspended robot for neurorehabilitation
Project: FIRB

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