Kinematics Analysis of a New 3DOF Parallel Manipulator as Walking Rehabilitation Device

In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.