Novel Decoupled Parallel Mechanism for Ankle Rehabilitation and Its Optimization

2015 ◽  
Vol 51 (9) ◽  
pp. 1 ◽  
Author(s):  
Daxing ZENG
Keyword(s):  
Parallel Mechanism ◽  
Ankle Rehabilitation

CONCEPTUAL DESIGN FOR ROBOT-AIDED ANKLE REHABILITATION DEVICE

2015 ◽  
Vol 76 (12) ◽  
Author(s):  
Muhammad Nazrin Shah Shahrol Aman ◽  
Shafriza Nisha Basah ◽  
Wan Khairunzam Wan Ahmad ◽  
Shahriman Abu Bakar
Keyword(s):  
Parallel Mechanism ◽  
Ankle Injury ◽  
Physical Injury ◽  
Concept Design ◽  
Parallel Mechanisms ◽  
Concept Generation ◽  
Physiotherapy Treatment ◽  
Standard Design ◽  
Ankle Rehabilitation ◽  
Therapy Treatment

Ankle injury is one of physical injury that can happen whether in sports or in domestic accidents. The injury can take from weeks to months to recover and requires physiotherapy treatment for effective recovery. Currently, there are established treatments for ankle rehabilitation in hospital such as endurance training and range-of-motion training. However, the success of rehabilitation for ankle injury directly depends on physiotherapy administered by experts. This conventional therapy treatment requires patients to frequently visit to hospital which is tedious and costly. To solve this, researchers have introduced a number of robot-aided ankle rehabilitation devices which has been developed in the last decade. However, those devices are bulky and do not designed for portability and configurability – which is an important feature for patients undergoing rehabilitation at home. In this paper, we proposed a concept based on robot-aided ankle rehabilitation device to assist patients undergo rehabilitation procedures. We focused on all patients’ need especially based on important features such as portability and configurability of the device. Standard design process were followed including concept generation and concept selection according to all relevant criteria using Morphological Charts and Pugh Method.  A Pulley Driven Cable Based Parallel Mechanism robot-aided ankle rehabilitation device has been selected based on selections from 5 different concept design generated. We show that a design based on parallel mechanisms should provide the needed portability and configurability. This result provides an insight for a portable and configurable robot-aided ankle rehabilitation device.

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation

2007 ◽  
Author(s):  
Jody A. Saglia ◽  
Jian S. Dai
Keyword(s):  
Control System ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Forward Kinematics ◽  
Control System Design ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated ◽  
Moving Platform

This paper presents the geometry and the kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as the beginning of a control system design process. First the geometry of the parallel mechanism is described, secondly the equations for the inverse and the forward kinematics are obtained, then the forward kinematics is analyzed in order to define all the possible configurations of the moving platform. Finally the Jacobian matrix of the rig is obtained by differentiating the position equations and the singularities are investigated, comparing the non-redundant and redundant type of mechanism.

scholarly journals Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation

2020 ◽  
Vol 14 ◽  
Author(s):  
Shiping Zuo ◽  
Jianfeng Li ◽  
Mingjie Dong ◽  
Xiaodong Zhou ◽  
Wenpei Fan ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Parallel Mechanism ◽  
Ankle Rehabilitation ◽  
And Performance

scholarly journals An ankle rehabilitation robot based on 3-RRS spherical parallel mechanism

2017 ◽  
Vol 9 (8) ◽  
pp. 168781401771811 ◽  
Author(s):  
Yuting Du ◽  
Ruiqin Li ◽  
Dahai Li ◽  
Shaoping Bai
Keyword(s):  
Parallel Mechanism ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation ◽  
Spherical Parallel Mechanism

A High-performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

2009 ◽  
Vol 28 (9) ◽  
pp. 1216-1227 ◽  
Author(s):  
J.A. Saglia ◽  
N.G. Tsagarakis ◽  
J.S. Dai ◽  
D.G. Caldwell
Keyword(s):  
Parallel Mechanism ◽  
High Performance ◽  
Ankle Rehabilitation ◽  
Redundantly Actuated

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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