Inverse dynamic modeling of a parallel wrist rehabilitation robot towards an assistive control modality

Abstract

Due to current limitations in the treatment of the upper limb post-stroke patients, there is a powerful trend in the development of rehabilitation robotic systems. The paper focuses on the development of the inverse dynamic model for the ParReEx-wrist parallel robot designed for the wrist rehabilitation. The model is developed based on the principle of virtual work using the lumped masses model. The derived model offers the possibility of a complex study for ParReEx-wrist robot to evaluate its dynamic capabilities and to generate the assistive control algorithms.