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Rehabilitation robots have been shown to be a safe tool for patient motor recovery in clinical medicine. The mechanism synthesis of 1-DOF rehabilitation robots is investigated in this paper. We therefore suggest a novel mechanism synthesis scheme based on chord angle descriptor and error tolerance expansion to produce a pool of mechanism options from which mathematically and practically optimal solutions can be chosen. According to realistic rehabilitation needs, a library of mechanism traceories is established with compressed representations of CAD by an auto-encoder algorithm to expedite the matching between mechanism and rehabilitation route, in which the matching error tolerance can be adjusted according to specific rehabilitation goals. To show the effectiveness of our novel strategy, we provide a design example of a 1-DOF rehabilitation robot for upper-limb preparation.
Source link: https://doi.org/10.5194/ms-13-341-2022
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