Motion Parameterization of Parallel Robots Used in Lower Limb Rehabilitation

Abstract

In this paper the constraint equations for two parallel robots for lower limb rehabilitation are derived. A parameterization method was used where the mobile platform coordinates (written with the Study parameters) were eliminated and the constraints were computed with Groebner bases. For the two parallel robots (RAISE, RECOVER ankle module) the dependencies between the active joints of the robot and the anatomic joints were obtained. For RAISE the results agreed with previous ones, whereas for RECOVER ankle module the results showed simple equations which may be used for the complete analysis of the mechanism and for the control development.