Simulation and Formulation of Rehabilitation Strategies for a Novel Ankle Rehabilitation Robot

Liao, Zhiwei; Lu, Zongxing; Chen, Peng; Yao, Ligang

doi:10.1007/978-981-10-4109-9_1

Cited by 1 publication

(1 citation statement)

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“…Noticing safety is one of the most important factors in rehabilitation, we dedicatedly control the motion of platform to ensure the range of the rehabilitation motion does not exceed the clinical safety range. The details of the determination of rehabilitation motion, trajectory planning and motor control can be referred to our previous work (Liao et al 2016 , 2017 , 2018 ; Yao et al 2018 ). On this basis, the plantar/dorsal flexion (along Y axis) and inversion/eversion (along X axis) are set as β ∊ (− 45°, 30°) and α ∊ (− 22°, 20°).…”

Section: Workpace Analysismentioning

confidence: 99%

Screw theory based mathematical modeling and kinematic analysis of a novel ankle rehabilitation robot with a constrained 3-PSP mechanism topology

Liao

Yao

et al. 2018

Int J Intell Robot Appl

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As a common athletics injury in orthopedics clinic, ankle injury may affect a person’s daily life and ankle injury rehabilitation has gained increasing interests from the medical and robotic societies. A novel hybrid ankle rehabilitation robot is proposed, which composing of a serial and a parallel part. In order to analyze its kinematic performances, the parallel part of the robot is simplified as a constrained 3-PSP parallel mechanism. A mathematical model for the parallel part of the robot is established based on the screw theory. Then the inverse kinematics is obtained, and the reciprocal twists, Jacobian matrices and the singularity of the robot are analyzed. Finally the workspace of the central point on the moving platform is predicted. The kinematic analyses manifest that the proposed hybrid rehabilitation robot not only can realize three kinds of ankle rehabilitation motions, but also can eliminate singularity with enhanced workspace. The workspace of the central point reveals that the hybrid robot can fully meet the demanded rehabilitation space by comparing with the clinic demands. Our results reveals the characteristic structure of the hybrid rehabilitation robot and its superiority, it offers some basis data for the future enhancement of the device.

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Section: Workpace Analysismentioning

confidence: 99%