A Spherical Parallel Three Degrees-of-Freedom Robot for Ankle-Foot Neuro-Rehabilitation (Contributo in atti di convegno)

Type
Label
  • A Spherical Parallel Three Degrees-of-Freedom Robot for Ankle-Foot Neuro-Rehabilitation (Contributo in atti di convegno) (literal)
Anno
  • 2012-01-01T00:00:00+01:00 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#doi
  • 10.1109/EMBC.2012.6346684 (literal)
Alternative label
  • Malosio, M. and Negri, S.P. and Pedrocchi, N. and Vicentini, F. and Caimmi, M. and Molinari Tosatti, L. (2012)
    A Spherical Parallel Three Degrees-of-Freedom Robot for Ankle-Foot Neuro-Rehabilitation
    in 34th Annual International Conference of the IEEE EMBS, San Diego, California USA, 28 Agosto - 1° Settembre 2012
    (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#autori
  • Malosio, M. and Negri, S.P. and Pedrocchi, N. and Vicentini, F. and Caimmi, M. and Molinari Tosatti, L. (literal)
Pagina inizio
  • 3356 (literal)
Pagina fine
  • 3359 (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#pagineTotali
  • 4 (literal)
Note
  • ISI Web of Science (WOS) (literal)
  • Scopu (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#affiliazioni
  • Malosio, M. and Negri, S.P. and Pedrocchi, N. and Vicentini, F. and Molinari Tosatti, L. are with the Institute of Industrial Technologies and Automation of the National Research Council, via Bassini 15, 20133 Milan. Italy corresponding author: matteo.malosio@itia.cnr.it Caimmi, M. is with the Valduce Hospital - Villa Beretta Rehabilitation Center, via Nazario Sauro 17, 23845 Costa Masnaga, Italy. (literal)
Titolo
  • A Spherical Parallel Three Degrees-of-Freedom Robot for Ankle-Foot Neuro-Rehabilitation (literal)
Http://www.cnr.it/ontology/cnr/pubblicazioni.owl#isbn
  • 978-1-4577-1787-1 (literal)
Abstract
  • The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces / torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises. (literal)
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