A cyclic robot for lower limb exercise

Brian P. DeJong; J. Edward Colgate; Michael A. Peshkin

doi:10.1115/1.4004648

A cyclic robot for lower limb exercise

Brian P. DeJong, J. Edward Colgate, Michael A. Peshkin

Engineering & Technology, School Of

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents the design and simulation of a cyclic robot for lower-limb exercise robots. The robot is designed specifically for cyclic motions and the high power nature of lower-limb interaction-as such, it breaks from traditional robotics wisdom by intentionally traveling through singularities and incorporating large inertia. Such attributes lead to explicit design considerations. Results from a simulation show that the specific design requires only a reasonably sized damper and motor.

Original language	English
Article number	031006
Journal	Journal of Medical Devices, Transactions of the ASME
Volume	5
Issue number	3
DOIs	https://doi.org/10.1115/1.4004648
State	Published - Aug 15 2011

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A cyclic robot for lower limb exercise

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