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Applied Bionics and Biomechanics
Volume 2016, Article ID 2653915, 10 pages
Research Article

Lower Limb Rehabilitation Using Patient Data

Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, UK

Received 9 March 2016; Accepted 26 July 2016

Academic Editor: Tadeusz Mikołajczyk

Copyright © 2016 Alireza Rastegarpanah and Mozafar Saadat. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.