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Kinematic Design of the Manipulator for the Upper Limb Rehabilitation

Tutak J. S.

Machine Dynamics Research

2013

Vol. 37, No. 1

107-112

The article presents the kinematic structure of the manipulator for upper limb rehabilitation. Rehabilitation includes exercises arm, forearm and hand in a range of activities of muscles and joints. The assumptions were prepared on the basis of the analysis of the literature describing the current solutions and suggestions of patients and therapists and the data on the rehabilitation and anthropometry depends on the age and sex. Based on this information as well as having additional interdisciplinary skills, several concepts of kinematic structure of the new rehabilitation device were proposed. This device is the possibility to perform the entire left or right upper limb (arm, forearm and hand) rehabilitation. With this solution it is possible to conduct exercises passively and actively in transverse, sagittal and intermediate surface and biofeedback software.