A cyclic robot for lower limb exercise

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Article number031006
JournalJournal of Medical Devices, Transactions of the ASME
Issue number3
StatePublished - Aug 15 2011


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