Development of a advance robotic rehabilitation system for the human knee joint.


Abstract : The main goal of this study is to investigate the biomechanics of the knee’s rehabilitation and to use this knowledge to develop a new robotic rehabilitation device inspired to the patient’s kinematics. Although some knee rehabilitation devices already exist, they have proved to be not very effective and, in some situations, even dangerous. The main reason is that the current state-of-the-art devices work under several simplistic and non physiological assumptions, the main of which is that the knee is seen as a joint with only 1 degree of freedom (flexion-extension). Moreover, the control units of these devices simply move the joint following a prescribed trajectory, with very few adaptations to the patient’s specificity and muscular reaction. In this project an innovative approach is proposed where patient’s kinematics is the starting point of the design. This will lead to the development of a robot where all the 6 DOF of a human knee are taken into account and where the robot movements reflect the real kinematics of some daily activity motor tasks as, walking, stair climb, chair rise. Furthermore, control policies able to adapt the robot actions to the patient’s muscular reaction will be studied. The outcomes of this project it is expect to give a relevant contribution to nowadays physiotherapy practice. The project includes the development of a running prototype and of a knee phantom that will be used to test the safety and the correct beh
Promoteur/Supervisor : Prof. Innocenti Bernardo
Email : bernardo.innocenti@ulb.ac.be
Site Web/Web site :
Centre de recherche/Research center :
Faculté/Faculty : Faculté des Sciences appliquées - école polytechnique/Brussels School of Engineering (Faculty of Applied Sciences)
Ecole doctorale/Graduate Colleges : Sciences de l'ingénieur/Engineering
Ecole doctorale thématique/Graduate School (French Only):



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