Design of a planar robotic machine for neuro-rehabilitation

  title={Design of a planar robotic machine for neuro-rehabilitation},
  author={Loredana Zollo and Dino Accoto and Francesco Torchiani and Domenico Formica and Eugenio Guglielmelli},
  journal={2008 IEEE International Conference on Robotics and Automation},
This paper presents the design criteria of a robot manipulator for the rehabilitation of the upper limb. The machine is conceived to optimize the dynamic behavior in the interaction with the patient, basically in terms of low impedance when back-driven and low and isotropic inertial properties. Robot kinematics and dynamics are mathematically modeled and… CONTINUE READING