By Topic

Design and Kinematics Simulation of Parallel Robots for Ankle Rehabilitation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Gengqian Liu ; Mechanical Engineering school, Hebei University of Technology, Tianjin, China. ; Jinlian Gao ; Hong Yue ; Xiaojun Zhang
more authors

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