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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)

Abstract

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.

Keywords

Ankle rehabilitation robot Reconfigurable mechanism Kinematics Motion trajectory 

Notes

Acknowledgments

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

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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

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