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Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot

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Advances in Reconfigurable Mechanisms and Robots II

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 36))

Abstract

This paper proposes a novel ankle rehabilitation robot. The proposed robot is composed of a series mechanism, three-branch parallel mechanisms and a supporting bracket. The mathematical modeling for kinematic characteristics analysis for the proposed robot is given. The function relationships between the rotating angle of the moving platform and the output of the actuators are obtained. The curves of the output rule of the actuators also show the inverse solution of the proposed robot. Based on the relationship the output of the actuators can be set to meet required angle of the moving platform in the rehabilitation processes.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Fuzhou University, No. 2, Xueyuan Road, Fuzhou University Town, Fuzhou, 350116, China

    Yang Li & Ligang Yao

Authors
  1. Yang Li
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  2. Ligang Yao
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Corresponding authors

Correspondence to Yang Li or Ligang Yao .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Xilun Ding

  2. Heriot-Watt University, Edinburgh, United Kingdom

    Xianwen Kong

  3. Kings College London, Strand, LONDON WC2R 2LS, United Kingdom

    Jian S. Dai

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Li, Y., Yao, L. (2016). Mathematical Modeling and Kinematics Analysis for a Novel Ankle Rehabilitation Robot. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_49

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  • DOI: https://doi.org/10.1007/978-3-319-23327-7_49

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23326-0

  • Online ISBN: 978-3-319-23327-7

  • eBook Packages: EngineeringEngineering (R0)

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