Heidar A. Talebi

Design and Implementation of a Two-DOF Robotic System with an Adjustable Force Limiting Mechanism for Ankle Rehabilitation

This paper presents a novel light-weight back-drivable inherently-safe robotic mechanism for delivering ankle rehabilitation therapies. The robot is designed to be used as the ankle module of a multi-purpose lower-limb rehabilitation robot. A novel friction-based safety feature has been introduced t…