Experimental validation of an impedance controlled parallel robot for postural rehabilitation

Dynamic posturography apparatuses are important tools in the diagnosis and rehabilitation of the equilibrium control capabilities. The mechanical systems used in dynamic posturography consist in moving bases actuated by elastic elements or, more recently, by servo-motors. In this work, the accuracy of a robot for postural rehabilitation, named RotoBiT^3D, controlled in impedance, was analyzed experimentally by means of different kinds of tests. The accuracy of the robot, which was set as a spring-dumper emulator, resulted more than sufficient, in terms of time constant, in relation to the expected use of the device.