Kinematics Analysis and Verification on the Novel Reconfigurable Ankle Rehabilitation Robot Based on Parallel Mechanism

  • Shilong ZengEmail author
  • Ligang Yao
  • Xiaoning Guo
  • Hengli Wang
  • Pengju Sui
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 24)


This paper proposes a novel reconfigurable ankle rehabilitation robot based on parallel mechanism. The proposed robot is composed of the linear actuators, reconfigurable mechanism, connecting rods, rockers and the moving platform. Then, the kinematic characteristics analysis for the proposed robot is given. The function relationships between the moving platform and the actuators are obtained. Furthermore, the verification for this novel reconfigurable robot is completed by wireless movement capture instrument, and the results show that the prototype ankle rehabilitation robot can meet the motion needed for the ankle rehabilitation.


Ankle rehabilitation robot Reconfigurable mechanism Kinematics Motion trajectory 



The authors wish to thank Natural Science Foundation of China (Grant No. 51275092) for funding the researches.


  1. 1.
    Dai JS, Zhao TS, Christopher N (2004) Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device. Auton Robots 16:207–218CrossRefGoogle Scholar
  2. 2.
    Ding XL, Ynag Y (2010) Reconfiguration theory of mechanism from a traditional artifact. J Mech Des 132:114501CrossRefGoogle Scholar
  3. 3.
    Dai JS, Zoppi M, Kong XW (2012) Advances in reconfigurable mechanisms and Robots I. Springer, London/Heidelberg, pp v–viiiGoogle Scholar
  4. 4.
    Girone M, Burdea G, Bouzit M, Popescu V (2001) A stewart platform-based system for ankle telerehabilitation. Auton Robots 10:203–212CrossRefzbMATHGoogle Scholar
  5. 5.
  6. 6.
    Pan LQ, Shen XD (2010) Robotics technology in the instrumentation of traditional Chinese medicine treatment. Technol Appl Robots 10:28–30Google Scholar
  7. 7.
    Parenteau CS, Viano DC, Petit PY (1998) Biomechanical properties of human cadaveric ankle subtalar-joints in quasi-static loading. J Biomech Eng 120:105–111CrossRefGoogle Scholar
  8. 8.
    Saglia JA, Tsagarakis NG, Dai JS et al (2009) A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation. In: IEEE international conference on robotics and automation, Kobe, international conference center, pp 2180–2186Google Scholar
  9. 9.
    Saglia JA, Tsagarakis NG, Dai JS, Caldwell DG (2012) Control strategies for patient-assisted training using the ankle rehabilitation Robot. IEEE/ASME Trans Mechatron 99:1–9Google Scholar
  10. 10.
    Sui PJ Yao LG, Lin ZF, Yan HY, Dai JS (2009) Analysis and synthesis of ankle motion and rehabilitation Robots. In: Proceedings of the 2009 IEEE international conference on robotics and biomimetics, Guilin, pp 2533–2538Google Scholar
  11. 11.
    Sui PJ, Yao LG, Lin ZF, Yan HY, Dai JS (2010) Kinematics analysis of a novel ankle rehabilitation robotics. In: International conference and course on orthopaedic biomechanics clinical applications and surgery, West London, pp S70Google Scholar
  12. 12.
    Sui PJ, Yao LG, Dai JS, Wang HL (2011) Development and key issues of the ankle rehabilitation robots. In: 13th world congress in mechanism and machine science, Guanajuato, pp A12–416Google Scholar
  13. 13.
    Yu DS (1993) Manual of rehabilitation medicine. Huaxia Publishing House, Beijing, pp 55–57Google Scholar
  14. 14.
    Yoo JW, Ryu J (2005) A novel reconfigurable ankle/foot rehabilitation robot. In: IEEE international conference on robotics and automation, Barcelona, International conference center, pp 2290–2295Google Scholar
  15. 15.
    Yao LG, Lin ZF, Yan HY, Wei GW, Dai JS (2008) Mechatronics integrated system for ankle rehabilitation and foot massage. In: Proceedings of the 11th mechatronics forum biennial international conference, Ireland, pp 305–310Google Scholar
  16. 16.
    Zhao TS, Yu HB, Dai JS (2005) Ankle rehabilitation robot based on 3-rss/s parallel mechanism. J Yanshan Univ 29:471–475Google Scholar
  17. 17.
    Zhang KT, Dai JS, Fang YF (2012) Constraint analysis and bifurcated motion of the 3PUP parallel mechanism. Mech Mach Theory 49:256–269CrossRefGoogle Scholar
  18. 18.
    Zhang KT, Dai JS, Fang YF (2013) Geometric constraint and mobility variation of two3SvPSv metamorphic parallel mechanisms. J Mech Des 35:1–8Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Shilong Zeng
    • 1
    Email author
  • Ligang Yao
    • 1
  • Xiaoning Guo
    • 1
  • Hengli Wang
    • 1
  • Pengju Sui
    • 1
  1. 1.School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouChina

Personalised recommendations