Structure Design, Kinematics Analysis, and Effect Evaluation of a Novel Ankle Rehabilitation Robot

This paper presents a novel ankle rehabilitation (2-CRS+PU)&R hybrid mechanism, which can meet the size requirements of different adult lower limbs based on three-movement model ankle. is related to three types movement modes movement, without axis offset, cover joint movements. The inverse and forward position/kinematics results analysis mechanism established closed-loop vector method using optimization particle groups algorithm. Four position solutions are obtained. kinematics simulation analyzed ADAMS software. variations velocity acceleration all stable, any sudden changes, effectively ensure safety comfort end-user. dexterity transport function, indicate that has an excellent transfer performance in yielding structure parameters. Finally, evaluation conducted according joint. show this provide superior function.