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Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation

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Advances in Mechanism and Machine Science (IFToMM WC 2019)

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 73))

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Abstract

A (2-SPS/PU)&R 4-DOF hybrid robot for ankle rehabilitation is presented in this paper. The robot is able to generate three-dimensional rotations and a stretching motion along the lower limb direction for ankle rehabilitation. In the paper, the inverse kinematics of the parallel mechanism is analyzed using closed-loop vector method. The velocity Jacobian matrix of the parallel mechanism is solved. The kinematics of the (2-SPS/PU)&R hybrid mechanism is simulated using ADAMS software. The results show that the mechanism can reach the motion ranges needed for ankle joint rehabilitation.

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Acknowledgments

This research was funded by the Key Research and Development Project of Shanxi Province (201803D421027, 201803D421028) and the Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (Grant number XJZZ201702).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, North University of China, Taiyuan, 030051, China

    Ruiqin Li, Xiaoqin Fan & Xiang Li

  2. Department of Mechanical and Manufacturing Engineering, Aalborg University, Aalborg, 9220, Denmark

    Shaoping Bai

  3. Department of Informatics, University of Hamburg, 22527, Hamburg, Germany

    Jianwei Zhang

Authors
  1. Ruiqin Li
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  2. Xiaoqin Fan
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  3. Xiang Li
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  4. Shaoping Bai
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  5. Jianwei Zhang
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Corresponding author

Correspondence to Ruiqin Li .

Editor information

Editors and Affiliations

  1. Robotics & Machine Dynamics Group, University of Mining and Metallurgy, Kraków, Poland

    Tadeusz Uhl

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Li, R., Fan, X., Li, X., Bai, S., Zhang, J. (2019). Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_183

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