# Aspects Concerning Parallel Robots Used in Rehabilitation

## TL;DR

This paper compares four parallel robot designs for rehabilitation, focusing on their precision and adaptability for upper and lower limb therapy.

## Contribution

A simulation-based comparative analysis using the Analytic Hierarchy Process to determine optimal parallel robot designs for rehabilitation.

## Key findings

- Parallel robots offer precision and rigidity suitable for adaptive rehabilitation therapy.
- Structural differences in joints significantly affect performance and stability.
- The Analytic Hierarchy Process identifies the most suitable design based on performance criteria.

## Abstract

This study presents a comprehensive simulation-based comparative analysis of four parallel robotic mechanisms, each developed to assist patient recovery through adaptive movement control and feedback, particularly for upper and lower limb therapy. Kinematic and dynamic models were developed and implemented in Matlab-Simulink, integrating force control via conventional regulators and real-time interaction with simulated patient-applied forces. The structural differences between spherical, rotational, and universal joints in each kinematic chain variant were evaluated. To systematically determine the most suitable design, a detailed Analytic Hierarchy Process was applied considering performance, precision, stability, and actuator effort. The study emphasizes the advantages of parallel robots in rehabilitation due to their precision, rigidity, and compact design, highlighting the potential of parallel robotic systems in customized and adaptive physical therapy interventions. These insights contribute to the optimal design selection of clinical motor therapy robots.