Title :
Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation
Author :
Liu, Gengqian ; GAO, Jinlian ; Yue, Hong ; Zhang, Xiaojun ; LU, Guangda
Author_Institution :
Sch. of Mech. Eng., Hefei Univ. of Technol., Tianjin
Abstract :
Ankle joint injury is a common athletics injury in clinic. It can be treated in a medical way, besides, rehabilitation exercises are needed, sufferers can regain the ankle joint´s function to the greatest extent and enhance the 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 robot 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. At last, the robot´s control system is presented in the paper
Keywords :
Jacobian matrices; force sensors; medical robotics; patient rehabilitation; robot kinematics; torque control; torque motors; Jacobian matrix; ankle joint injury; ankle rehabilitation; force sensor; kinematics analysis; medical treatment robot; parallel robots; torque motor; Add-drop multiplexers; Force sensors; Injuries; Jacobian matrices; Kinematics; Medical robotics; Medical treatment; Parallel robots; Rehabilitation robotics; Robot sensing systems; ankle rehabilitation; kinematics; mechanism simulation; parallel mechanism;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281710