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Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation

  • Ruiqin LiEmail author
  • Xiaoqin Fan
  • Xiang Li
  • Shaoping Bai
  • Jianwei Zhang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

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.

Keywords

(2-SPS/PU)&R Ankle joint Rehabilitation robot Hybrid mechanism Kinematics 

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Notes

Acknowledgments

This research was funded by the Key Research and Development Project of Shanxi Province (201803D421027, 201803D421028) and the Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (Grant number XJZZ201702).

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ruiqin Li
    • 1
    Email author
  • Xiaoqin Fan
    • 1
  • Xiang Li
    • 1
  • Shaoping Bai
    • 2
  • Jianwei Zhang
    • 3
  1. 1.School of Mechanical EngineeringNorth University of ChinaTaiyuanChina
  2. 2.Department of Mechanical and Manufacturing EngineeringAalborg UniversityAalborgDenmark
  3. 3.Department of InformaticsUniversity of HamburgHamburgGermany

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