CONTINUOUS PASSIVE MOBILIZING ROBOT FOR UPPER LIMBS REHABILITATION.

Abstract

The present disclosure is related to a continuous passive mobilizing robot with 14 degrees of freedom with the possibility of changes between mobilization modes for paretic limb, apparent load, circumferential and monitoring. Includes postural support (standing and sitting) with vertical and horizontal adjustment, two upper limbs, seven engines for each member, man-machine interface and control system. In the mobilization mode for a paretic member, certain link remains fixed, while another has movement. In apparent load mode, homogeneous transformations describe the behavior of collaborative manipulation when both members lift a box with no significant load. When executing the circumferential mode, both arms emulate the grip of a rudder. When the tracking mode is selected, one arm performs certain movements that are followed by the other arm, copying the displacements of the master arm.