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Applied Bionics and Biomechanics
Volume 2016, Article ID 8584735, 10 pages
Research Article

Parallel Robot for Lower Limb Rehabilitation Exercises

1Department of Mechanical Engineering, School of Engineering, University of Birmingham, Birmingham, UK
2School of Mechanical Engineering, Università Degli Studi di Brescia, Brescia, Italy

Received 22 February 2016; Revised 29 July 2016; Accepted 16 August 2016

Academic Editor: Antonio Riveiro

Copyright © 2016 Alireza Rastegarpanah et al. 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 capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators’ forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators’ forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg’s model placed on the robot. The results demonstrate the robot’s capability to perform a full range of various rehabilitation exercises.