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The use of robots in rehabilitation, particularly for physical therapy has the potential to bring about various benefits including reduction of physical workload of physiotherapists and improved repeatability. A three degree of freedom parallel robot is proposed in this paper to accommodate range of motion and muscle strengthening exercises for ankle rehabilitation. Singularity analysis of the design...
New gains tuning and impedance control method were addressed for flexible base moving manipulators. Slow and fast dynamics of robot are decoupled using singular perturbation method. Then, using sliding mode control method, an impedance control law was derived for the slow dynamics. Combined control law was proposed comprising the impedance control law and a feedback control law for the fast dynamics...
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