Design and development of a parallel robot based on an XY table for ankle rehabilitation

2015 ◽  
Vol 9 (2) ◽  
pp. 89 ◽  
Author(s):  
Andrés Blanco ◽  
Fabio A. Gómez ◽  
Víctor H. Olivares ◽  
Arturo Abundez ◽  
Jorge Colín
Keyword(s):  
Parallel Robot ◽  
Design And Development ◽  
Ankle Rehabilitation

Motion Simulation of a Hybrid Parallel Robot for Ankle Rehabilitation

2014 ◽  
Author(s):  
Hamid Rakhodaei ◽  
Mozafar Saadat ◽  
Alireza Rastegarpanah
Keyword(s):  
Parallel Robot ◽  
Hybrid Structure ◽  
Inverse Kinematic ◽  
Motion Simulation ◽  
Stroke Patients ◽  
End Effector ◽  
Ankle Rehabilitation ◽  
Motion Paths ◽  
Experimental Values ◽  
Forward Kinematic

This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3-DOF parallel mechanism that is attached on top of the 6-DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector’s position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.

Alternative Methods for Direct Kinematic Analysis of a Parallel Robot for Ankle Rehabilitation

2020 ◽  
pp. 53-61
Author(s):  
Erick D. Flores-Salazar ◽  
Manuel Arias-Montiel ◽  
Esther Lugo-González ◽  
Jaime Gallardo-Alvarado ◽  
Ricardo Tapia-Herrera
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robot ◽  
Alternative Methods ◽  
Ankle Rehabilitation

Design of a Robotic Gait Trainer using Spring Over Muscle Actuators for Ankle Stroke Rehabilitation

2005 ◽  
Vol 127 (6) ◽  
pp. 1009-1013 ◽  
Author(s):  
Kartik Bharadwaj ◽  
Thomas G. Sugar ◽  
James B. Koeneman ◽  
Edward J. Koeneman
Keyword(s):  
Unique Feature ◽  
Parallel Robot ◽  
Human Anatomy ◽  
Effective Form ◽  
Ankle Rehabilitation ◽  
Task Training ◽  
Robotic Gait ◽  
Muscle Actuators ◽  
And Inversion ◽  
Gait Trainer

Repetitive task training is an effective form of rehabilitation for people suffering from debilitating injuries of stroke. We present the design and working concept of a robotic gait trainer (RGT), an ankle rehabilitation device for assisting stroke patients during gait. Structurally based on a tripod mechanism, the device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as actuation links which move the ankle in dorsiflex ion/plantarflexion and inversion/eversion. A unique feature in the tripod design is that the human anatomy is part of the robot, the first fixed link being the patient’s leg. The kinematics and workspace of the tripod device have been analyzed determining its range of motion. Experimental gait data from an able-bodied person wearing the working RGT prototype are presented.

Design and Kinematic Analysis of Parallel Robot for Ankle Rehabilitation

2013 ◽  
Vol 446-447 ◽  
pp. 1279-1284 ◽  
Author(s):  
Muhammad Nazrin Shah Bin Shahrol Aman ◽  
Shafriza Nisha Bin Basah
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Weight Ratio ◽  
Parallel Robot ◽  
Ankle Injury ◽  
Design Parameters ◽  
Concept Generation ◽  
Embodiment Design ◽  
Ankle Rehabilitation ◽  
Rehabilitation Exercises

Ankle injury is one of the most common injuries in sports or domestic related accidents. This injury can usually be treated via a number of rehabilitation exercises. However, currently rehabilitation of ankle injury directly depends of physiotherapy session administered by experts; which is tedious and expensive in nature. In this paper, we proposed a concept based on parallel mechanism to assist patients undergoing ankle rehabilitation procedures. This is due to a number of advantages of parallel mechanism as compared to serial mechanism higher payload-to-weight ratio, structure rigidity, accuracy and relatively simple solution. We reported our design process; including the concept generation and selection according to a number of relevant design parameters. After which, followed by embodiment design involving kinematic analysis of the proposed mechanism. The findings, in terms of conceptual design and kinematic analysis should be able to provide an insight for ankle rehabilitation based on suitable parallel mechanism.

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