Design of a Spherical Parallel Kinematic Machine for Ankle Rehabilitation
Taylor & Francis
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.
robotic rehabilitation, spherical robot, parallel kinematic machine, workspace, kinematics, forward kinematics, robot simulation
Zhuming M. Bi (2013).
Design of a Spherical Parallel Kinematic Machine for Ankle Rehabilitation. Advanced Robotics.27 (2), 121-132. Taylor & Francis.