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Design and Kinematics Simulation of Parallel Robots for Ankle Rehabilitation

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5 Author(s)
Gengqian Liu ; Mechanical Engineering school, Hebei University of Technology, Tianjin, China. gqliu@hebut.edu.cn ; Jinlian Gao ; Hong Yue ; Xiaojun Zhang
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Ankle joint injury is a common athletics injury in orthopedics clinic. It can be treated in a medical way; besides, rehabilitation exercises are needed, by which sufferers can regain the ankle joint's function to the greatest extent and enhance patient's proprioception. In this paper, a medical treatment robot is proposed for ankle joint rehabilitation exercises, in which the 3-RSS/S parallel mechanism is adopted based on the ankle joint's movements. The mechanical design is described and the inverse kinematic is derived, as a result, the Jacobian matrix is obtained. Furthermore, a reality model of the parallel mechanism is built by UG and simulated under the ADMS environment. It shows the design can meet the needs of ankle joint rehabilitation movements. In order to validate these concepts, the first prototype is developed that driven by three torque motors and equipped with force sensor for sensing the interaction force between patient's foot and robot

Published in:

2006 International Conference on Mechatronics and Automation

Date of Conference:

25-28 June 2006