Design of an Ankle Rehabilitation Device Using Hybrid Mechanism
The aim of this work is to propose a new 3-DOF ankle rehabilitation device with hybrid serial-parallel and a passive link which bears the most of loads of the platform. Owing to the novel mechanical design of the universal joint and platform, the mechanism centre of rotations can easily match the ankle axes of rotations,which is distinguished from some proposed parallelrobots for ankle rehabilitation. Thanks to its simplestructure, the velocity and acceleration relations can be simply solved by use of the screw theory. The workspace of the device is analyzed to ensure that the device satisfies the requirements of the range of ankle motion and accommodates the majority of patients.
ankle rehabilitation hybrid mechanism parallel robot universal joint reciprocal screw
Congzhe Wang Sheng Guo Yuefa Fang
Beijing Jiaotong University Beijing,China
国际会议
上海
英文
1-6
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）