gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

Research on motion control automation of Stewart Platforms with industrial configurations (motion and controllers) is less present in the literature than other types low-cost devices such as Arduino, or via simulations MATLAB Simulink. Moreover, direct kinematics widely applied because heavy calculation real-time device implementations. The paper first analyzes design, kinematic modelling, traj...

The Stewart platform is a six-axis parallel robot manipulator with a force-to-weight ratio and positioning accuracy far exceeding that of a conventional serial-link arm. Its stiffness and accuracy approach that of a machine tool yet its workspace dexterity approaches that of a conventional manipulator. In this article, we study the dynamic equations of the Stewart platform manipulator. Our deri...

In this paper, a general Stewart Platform Simulation tool (STEWSIM) is developed for robot designers and researchers. The STEWSIM uses an efficient connection matrix algorithm that has been developed for kinematic design of all possible types of general Stewart platforms (GSPs), such as 3× 3, 3× 4, 3× 5 . 6× 5 and 6× 6 with an arbitrary number of legs varying between three and six. This new int...