Manipulability Optimization of a Rehabilitative Collaborative Robotic System

The use of collaborative robots (or cobots) in rehabilitation therapies is aimed at assisting and shortening the patient’s recovery after neurological injuries. Cobots are inherently safe when interacting with humans can be programmed different working modalities based on needs level injury. This study presents a design optimization robotic system for upper limb manipulability ellipsoid method. human–robot modeled as closed kinematic chain which human hand grasps handle attached to robot’s end effector. ellipsoids determined both arm compared by calculating an index that quantifies alignment principal axes. optimal position robot base respect patient identified first global further local refinement, seeking best series points uniformly distributed within shared workspace.