Accurate detection mechanism synthesis and robot-assisted recognition method for ankle instantaneous motion

Liu, Chenglei; Zhang, Jianjun; Ma, Zhihao; Li, Teng; Guo, Shuxiang

doi:10.1016/j.mechmachtheory.2022.105000

Cited by 4 publications

(2 citation statements)

References 50 publications

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“…Abu-Dakka et al [27] developed a 3-PRS parallel ARR with three DOF that realized dorsiflexion (DO)/plantarflexion (PL), inversion (IN)/eversion (EV), and translation in the height direction. Zhang et al [28] and Liu et al [29] proposed compact generalized spherical parallel mechanisms suitable for ankle rehabilitation based on an ankle-motion fitting model with a high matching degree. Zeng et al [30] proposed a new type of ankle-foot rehabilitation robot based on a decoupling series-parallel mechanism with one translational and three rotational DOF.…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

Liu,

Lu,

Fan

et al. 2024

Chin. J. Mech. Eng.

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The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR.

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Section: Introductionmentioning

confidence: 99%

Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

Liu,

Lu,

Fan

et al. 2024

Chin. J. Mech. Eng.

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show abstract

“…In order to solve the above problems, Liu et al [19,20]. proposed a series of generalized spherical parallel ankle rehabilitation mechanisms based on the ankle bone structure.…”

Section: Introductionmentioning

confidence: 99%

Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

Song

Wei

et al. 2023

Preprint

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Aiming at the problem that the existing ankle rehabilitation robot is difficult to fully fit the complex motion of human ankle joint and has poor human-machine motion compatibility, a equivalent series mechanism model which is highly matched with the actual bone structure of the human ankle joint is proposed and mapped into a parallel rehabilitation mechanism. And the parallel rehabilitation mechanism has two virtual motion centers(VMCs), which can simulate the complex motion of the ankle joint, adapt to the individual differences of various patients, and can meet the rehabilitation needs of both left and right feet of patients. Firstly, based on the motion properties and physiological structure of the human ankle joint, the mapping relationship between the rehabilitation mechanism and ankle joint is determined, and the series equivalent model of the ankle joint is established. According to the kinematic and constraint properties of the ankle equivalent model, the configuration design of the parallel ankle rehabilitation robot is carried out. Secondly, according to the intersecting motion planes theory, the full-cycle mobility of the mechanism is proved, and the continuous axis of the mechanism is judged based on the constraint power and its derivative. Then, the kinematics of the parallel ankle rehabilitation robot is analyzed. Finally, based on the OpenSim biomechanical software, a human-machine coupling rehabilitation simulation model is established to evaluate the rehabilitation effect, which lay the foundation for the formulation of a rehabilitation strategy for the later prototype.

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Kinematics and stiffness analysis of a wheelchair-based cable-actuated ankle rehabilitation robot with flexure-based variable-stiffness devices

Yang

Cui

Peng

et al. 2023

Intel Serv Robotics

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Accurate detection mechanism synthesis and robot-assisted recognition method for ankle instantaneous motion

Cited by 4 publications

References 50 publications

Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

Configuration Design and Kinematic Performance Analysis of a Novel 4-DOF Parallel Ankle Rehabilitation Mechanism with Two Virtual Motion Centers

Kinematics and stiffness analysis of a wheelchair-based cable-actuated ankle rehabilitation robot with flexure-based variable-stiffness devices

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