Mathematical modeling and kinematics analysis for a novel ankle rehabilitation robot

Abstract

This paper proposes a novel ankle rehabilitation robot. The proposed robot is composed of a series mechanism, three-branch parallel mechanisms and a supporting bracket. The mathematical modeling for kinematic characteristics analysis for the proposed robot is given. The function relationships between the rotating angle of the moving platform and the output of the actuators are obtained. The curves of the output rule of the actuators also show the inverse solution of the proposed robot. Based on the relationship the output of the actuators can be set to meet required angle of the moving platform in the rehabilitation processes.