Design and control of a new parallel robot for the rehabilitation of the hip-knee

The use of robots for passive medical rehabilitation has grown substantially in recent years due to the importance of achieving normality after having suffered an injury in any joint of the human body. In the present work we propose a new parallel robot of rehabilitation for hip flexion movement that consists of two linear guide systems in the Z and Y axes. The kinetic analysis of the robot is made, proposing a new kinematic model of five Links. The geometric relationship between the linear guide and the flexion angle is used in such a way that it would be only necessary to measure the position of the linear guide without the measurement of the flexion angle of the hip. The mathematical model of the linear guides includes the dynamics of the CD motors, and a law of control GPI robust is proposed to control the position of the guides.