This paper addresses the modelling and simulation of ADIUTOR, a Delta-like architecture, which has been conceived at University of Calabria for upper limb rehabilitation tasks. The proposed robotic architecture is modelled within MATLAB environment using Simscape Multibody toolbox. Kinematics and dynamics aspects are addressed to validate the feasibility of specific exercises for upper limb rehabilitation tasks. Numerical simulations and a built prototype are reported to show the engineering feasibility and soundness of the proposed assistive robot design.
Modelling and Simulation of ADIUTOR Upper Limb Rehabilitation Robot
Curcio, Elio M.;De Momi, Elena;Lago, Francesco;Rodino', Stefano;Carbone, Giuseppe
2022-01-01
Abstract
This paper addresses the modelling and simulation of ADIUTOR, a Delta-like architecture, which has been conceived at University of Calabria for upper limb rehabilitation tasks. The proposed robotic architecture is modelled within MATLAB environment using Simscape Multibody toolbox. Kinematics and dynamics aspects are addressed to validate the feasibility of specific exercises for upper limb rehabilitation tasks. Numerical simulations and a built prototype are reported to show the engineering feasibility and soundness of the proposed assistive robot design.File in questo prodotto:
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