Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

Abstract The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle, which influences the rehabilitation effect. Therefore, this study equates the human ankle to the UR model and proposes a novel three degrees of freedom...

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Bibliographic Details
Main Authors: Jianjun Zhang, Shuai Yang, Chenglei Liu, Xiaohui Wang, Shijie Guo
Format: Article
Language:English
Published: SpringerOpen 2024-03-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Ankle rehabilitation
Parallel mechanism
Kinematic analysis
Parameter optimization
Online Access:https://doi.org/10.1186/s10033-024-01003-x

Internet

https://doi.org/10.1186/s10033-024-01003-x

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