3-DOF Parallel Ankle Rehabilitation Mechanism

doi:10.3901/JME.2020.21.070

Abstract

Abstract: Based on the analysis of existing ankle rehabilitation institutions, a new ankle rehabilitation mechanism based on 3-UPU parallel mechanism is proposed. The mechanism has three degrees of freedom, can achieve ankle pronation/supination, varus/valgus movement. And the axis of rotation of the mechanism can adjustment in height and angular direction. Therefore, the rotation axis of the mechanism can be better matched with the motion axis of the human ankle joint and bring better rehabilitation effect to the patients. The inverse kinematics and DOF of the mechanism are solved. According to the ankle rehabilitative requirements, the size of the mechanism is determined, and the workspace of the mechanism is further solved. Finally, the kinematics of the mechanism is simulated and verified by the prototype.

Key words: ankle rehabilitation, parallel mechanism, kinematic analysis, workspace

CLC Number:

TP242

CHEN Ziming, YIN Tao, PAN Hong, ZHAO Chen, YAN Shengqin, LI Yanwen, HUANG Zhen. 3-DOF Parallel Ankle Rehabilitation Mechanism[J]. Journal of Mechanical Engineering, 2020, 56(21): 70-78.

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