Kinematics analysis and verification on the novel reconfigurable ankle rehabilitation robot based on parallel mechanism

Abstract

This paper proposes a novel reconfigurable ankle rehabilitation robot based on parallel mechanism. The proposed robot is composed of the linear actuators, reconfigurable mechanism, connecting rods, rockers and the moving platform. Then, the kinematic characteristics analysis for the proposed robot is given. The function relationships between the moving platform and the actuators are obtained. Furthermore, the verification for this novel reconfigurable robot is completed by wireless movement capture instrument, and the results show that the prototype ankle rehabilitation robot can meet the motion needed for the ankle rehabilitation.