A (2-SPS/PU)&R 4-DOF hybrid robot for ankle rehabilitation is presented in this paper. The robot is able to generate three-dimensional rotations and a stretching motion along the lower limb direction for ankle rehabilitation. In the paper, the inverse kinematics of the parallel mechanism is analyzed using closed-loop vector method. The velocity Jacobian matrix of the parallel mechanism is solved. The kinematics of the (2-SPS/PU)&R hybrid mechanism is simulated using ADAMS software. The results show that the mechanism can reach the motion ranges needed for ankle joint rehabilitation.
CITATION STYLE
Li, R., Fan, X., Li, X., Bai, S., & Zhang, J. (2019). Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation. In Mechanisms and Machine Science (Vol. 73, pp. 1849–1858). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-030-20131-9_183
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