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Fig. 1 | Journal of NeuroEngineering and Rehabilitation

Fig. 1

From: A novel robot for imposing perturbations during overground walking: mechanism, control and normative stepping responses

Fig. 1

BAR - mechanical design and the actual system. Left: Detailed mechanical design of balance assessment robot. Mobile platform (MP): 1 - mobile platform frame, 2 - castor wheels, 3 - drive motors, 4 - batteries, 5 - bumper, 6 - control unit (Beckhoff PLC CX5020, Beckhoff Automation GmbH & Co. KG). Pelvis manipulator (PM): 7 - universal joint, 8 - vertical rod, 9 - spherical joint, 10 - pair of angularly displaced force sensors, 11 - pelvis element (PE), 12 - pelvis brace (PB), 13 - servo motor (Beckhoff AM122-F020, Beckhoff Automation GmbH & Co. KG), 14 - linear bearing (CASM-40-BS-0300AA-000, SKF Actuation Systems). Right: the actual system

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