Title

Design of a Spherical Parallel Kinematic Machine for Ankle Rehabilitation

Document Type

Article

Publication Date

2013

Publication Source

Advanced Robotics

Volume

27

Issue

2

Inclusive pages

121-132

DOI

https://doi.org/10.1080/01691864.2012.703306

Publisher

Taylor & Francis

ISBN/ISSN

1568-5535

Abstract

Existing ankle rehabilitation robots have the limitations of insufficient motion ranges and coupled translations. An improved spherical robot has been proposed to overcome these limitations. The forward and inverse kinematic problems of this new machine are formulated and solved; the dexterity of the workspace is evaluated and the workspace has been optimized with the consideration of the motion ranges of passive joints. The operation of machine has been simulated; it will be further expanded as a control program to run the rehabilitation robot.

Keywords

robotic rehabilitation, spherical robot, parallel kinematic machine, workspace, kinematics, forward kinematics, robot simulation

Disciplines

Engineering

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