Abstract
In this paper, a novel cable-driven parallel robot based on the motion characteristics of human ankle joint is proposed for ankle rehabilitation. Because of the novel mechanical design of the equivalent spherical joint and platform, the mechanism centre of rotations can easily match the ankle axes of rotations, which is an advantage over some existing rehabilitation robots. The mechanism design is described and the kinematics are studied, then the workspace of the robot under ankle rehabilitation working mode is analyzed. Finally, a reality model of the parallel robot simulated under the ADAMS environment. It shows the design can well meet the needs of ankle joint rehabilitation requirements.
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The authors gratefully acknowledge the financial support of Beijing Natural Science Foundation under grant No. 3132019.
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© 2014 Springer International Publishing Switzerland
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Yu, R., Fang, Y., Guo, S. (2014). Design and Kinematic Analysis of a Novel Cable-Driven Parallel Robot for Ankle Rehabilitation. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_33
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DOI: https://doi.org/10.1007/978-3-319-07058-2_33
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