Robot Manipulandum for rehabilitation
The robot manipulandum has been designed having in mind not only the rehabilitation application, but also hapic interfacing use.

The geometric parameters of the pantograph mechanism were selected so to achieve  a good  isotropy of the motor torque to end-effector force ratio on the most part of the the workspace.



To be easily backdrivable, the system is actuated by two direct-drive torque-motors.






The robot manipulandum was developed for CBC (Centro di Bioingegneria - Ospedale La Colletta - Universita' di Genova)


To learn more, visit the CBC website:
http://www.laboratorium.dist.unige.it/~piero/Colletta
 

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