TY - JOUR N2 - The paper presents a prototype of a rehabilitation robot for lower extremities. It is created on the basis of cylindrical kinematic model, equipped with two rigid arms, special handles and fixtures. It has five active degrees of freedom and is designed to repeat the trajectories generated by physiotherapist during the learning phase. Presented prototype of rehabilitation robot has the ability to replay different types of trained exercises such as: hip and knee flexion/extension, leg abduction/adduction. The protection system (including overload detection) implemented in the robot ensures safe working with patients. L1 - http://journals.pan.pl/Content/84459/PDF/08_paper.pdf L2 - http://journals.pan.pl/Content/84459 PY - 2011 IS - No 1 EP - 113 DO - 10.2478/v10180-011-0007-5 KW - robot KW - rehabilitation device KW - lower extremities rehabilitation KW - compliance control A1 - Kaczmarski, Marcin A1 - Granosik, Grzegorz PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 58 DA - 2011 T1 - Rehabilitation robot RRH1 SP - 103 UR - http://journals.pan.pl/dlibra/publication/edition/84459 T2 - Archive of Mechanical Engineering ER -