CN207071200U - A kind of new robot for rehabilitation of anklebone - Google Patents
A kind of new robot for rehabilitation of anklebone Download PDFInfo
- Publication number
- CN207071200U CN207071200U CN201720687358.5U CN201720687358U CN207071200U CN 207071200 U CN207071200 U CN 207071200U CN 201720687358 U CN201720687358 U CN 201720687358U CN 207071200 U CN207071200 U CN 207071200U
- Authority
- CN
- China
- Prior art keywords
- rrr
- rehabilitation
- parallel mechanisms
- sphere parallel
- mechanisms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
It the utility model is related to a kind of new robot for rehabilitation of anklebone, including electric cabinet, pedestal, motor, encoder, 3 RRR sphere parallel mechanisms and foot's pedal；Wherein, 3 RRR sphere parallel mechanisms are located between bottom base and top foot pedal, 3 RRR sphere parallel mechanisms have three identical movement branched chains, and every side chain is made up of three revolute pairs and two connecting rods, and the 3 RRR spherical mechanisms are a kind of typical sphere parallel mechanisms（SPM）, there are three pure rotational freedoms, and each pivot center is met at a bit, the point is the center of rotation of 3 RRR spherical mechanismsOPoint, each revolute pair axis of every movement branched chain are also met atOPoint.With three-rotational-freedom, and working space should meet the angular range that ankle-joint respectively moves；Meanwhile also meet that ankle-joint rotates the physilogical characteristics that flexibility is high, bearing capacity is strong.
Description
Technical field
The utility model belongs to healing robot technical field, is related to a kind of new robot for rehabilitation of anklebone.
Background technology
Healing robot is the automation equipment that a kind of auxiliary sufferer or the elderly carry out daily exercise.In recent years, machine
The research of people's Aided Physical treatment is in the ascendant, and it is an a large amount of repetitive works to be mostly derived from rehabilitation training, rehabilitation's teacher work
Work amount is big and easily tired out, and this type of work is exactly the strong point of robot.Robot for rehabilitation of anklebone is Typical Representative.
Ankle-joint is the important joint that human body keeps gait balance and load-bearing, has the rotary motion work(around anatomical planes Three Degree Of Freedom
Energy.Sprain of ankle joint is a kind of common lower extremity movement damage, and has and recover the characteristics of slow.Carried out using robot technology
Ankle-joint auxiliary rehabilitation exercise, it is easy to rehabilitation teacher to formulate a variety of specific aim rehabilitation training schemes, while can with quantification assesses
It is significant for the quick recovery of injured patient with collection training data.
For ankle-joint auxiliary rehabilitation exercise, lot of domestic and international scholar is studied this, and has been succeeded in developing a variety of
The rehabilitation equipment of various configuration, different control methods.Girone have developed in the Stewart mechanisms based on six degree of freedom in 1999
" Rutgers Ankle " robots [1], and a variety of Training scenes are constructed using force feedback technique and virtual reality technology, can
Realize balance, strength, flexibility training.The equipment is successfully by the use of parallel institution as ankle rehabilitation equipment, but with unnecessary
The free degree, bring control complexity.Its pneumatic actuation mode is not appropriate for Jing Yin, the portable spy of medical treatment or domestic environment requirement
Point.Liu have developed motor-driven rehabilitation of anklebone equipment in 2006 using 3-freedom parallel mechanism 3RSS/S, structure compared with
For compact [2].Saglia2009 have developed two-freedom parallel connection healing robot [3], and the equipment has three side chains, and redundancy is driven
The characteristics of dynamic.Its joint drive employs the device that motor is converted into piston linear motion by a kind of new rope driving.
According to the physiological structure of ankle-joint, the rehabilitation equipment that most scholars propose uses the collocation form of three-rotational-freedom.Tsoi
A kind of rehabilitation equipment in parallel of 3-UPS structures is proposed, and discusses adaptive interaction control method [4].Li great Shun is by 3-
RSS mechanisms are used for the development [5] of robot for rehabilitation of anklebone.Once a kind of PU-CRRU-CRRR mechanisms were proposed up to good fortune, and had three
The characteristics of free degree parallel-connection decoupling [6].
Ankle-joint postoperative rehabilitation is generally divided into early stage, mid-term, later stage three phases, and sufferer can recover joint by easy stages
Scope of activities and muscle strength.In early stage, based on the general passive activity of rehabilitation training；And in stage middle and later periods, then active
Based on activity, supplemented by passive activity.Therefore, the control mode of healing robot is divided into actively and passively two ways, controls respectively
The movement locus and power output/torque of robot end processed.The rehabilitation equipment of Saglia exploitations uses position control mode, machine
People guides patient's ankle motion set, is adapted to early rehabilitation training.Enter the control of the power of healing robot is divided into power position to mix recklessly
Close two methods of control and impedance control [7].Mix the power position that Ju realizes two-freedom healing robot using fuzzy controller
Close control [8].Tsoi then uses impedance-controlled fashion, applies certain resistance to patient's ankle, so as to realize the active of patient
Train [4].
Working space and the free degree configuration of robot for rehabilitation of anklebone must be protected with the structure and kinetic characteristic of ankle-joint
Hold consistent.Generally, the motion of ankle-joint is regarded as around three anatomical planes（That is frontal plane, sagittal plane, horizontal plane）Method
Line azimuthal rotational motion, as shown in Figure 1.Wherein, the rotation around sagittal plane normal is referred to as dorsiflexion/plantar flexion motion；Around horizontal plane
Referred to as overhanging/interior exhibition motion of rotation of normal, the rotation around frontal plane normal are referred to as inversion/eversion motion.These three dissections are flat
Face is mutually orthogonal, so the motion of ankle-joint can be equivalent to do spheric motion around a certain center of rotation.As shown in table 1, often
The slewing area of kind motion simultaneously differs, but its range of movement is all smaller [9].
The angular range that the ankle-joint of table 1 respectively moves
Bibliography
[1] Girone M, Burdea G, Bouzit M, et al. A Stewart Platform-Based
System for Ankle Telerehabilitation[J]. Autonomous Robots, 2001, 10(2):203-
212.
[2] Liu G, Gao J, Yue H, et al. Design and Kinematics Simulation of
Parallel Robots for Ankle Rehabilitation[C] Mechatronics and Automation,
Proceedings of the 2006 IEEE International Conference on. IEEE, 2006:1109-
1113.
[3] Saglia J A, Tsagarakis N G, Dai J S, et al. A High-performance
Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation[J].
International Journal of Robotics Research, 2009, 28(9):1216-1227.
[4] Tsoi Y H, Xie S Q. Design and control of a parallel robot for
ankle rehabilitation.[J]. International Journal of Intelligent Systems
Technologies & Applications, 2010, 8:100-113.
[5] Li great Shun, Li Jianfeng, Wang Sa, parallel connections 3-RRS rehabilitation of anklebone mechanism and motion analysis [J] machines are waited
Tool designs and manufacture, 2015 (8):4-8.
[6] Zeng Daxing, Hu Zhitao, Hou Yulei, a kind of parallel formulas of decoupling rehabilitation of anklebone mechanism and its excellent is waited
Change [J] mechanical engineering journals, 2015 (09):1-9.
[7] enter recklessly, Hou Zengguang, Chen Yixiong, wait lower limb rehabilitation robots and its interaction control method [J] automatic
Chemistry report, 2014 (11):2377-2390.
[8] Ju M S, Lin C C, Lin D H, et al. A rehabilitation robot with
force-position hybrid fuzzy controller: hybrid fuzzy control of
rehabilitation robot.[J]. IEEE Transactions on Neural Systems &
Rehabilitation Engineering A Publication of the IEEE Engineering in Medicine
& Biology Society, 2005, 13(3):349-358.
[9] S, Siegler, J, Chen, C D, Schneck. The three-dimensional
kinematics and flexibility characteristics of the human ankle and subtalar
joints- Part I: Kinematics[J]. Journal of Biomechanical Engineering, 1988,
110(4):364-373。
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, the utility model provides a kind of new robot for rehabilitation of anklebone, it
With three-rotational-freedom, and working space should meet the angular range that ankle-joint respectively moves；Meanwhile also meet ankle-joint
Rotate the physilogical characteristics that flexibility is high, bearing capacity is strong.
Technical scheme is used by the utility model solves its technical problem：A kind of new robot for rehabilitation of anklebone,
Including electric cabinet, pedestal, motor, encoder, 3-RRR sphere parallel mechanisms and foot's pedal；Wherein, 3-RRR spheres are simultaneously
Online structure is located between bottom base and top foot pedal, and 3-RRR sphere parallel mechanisms have three identical movement branched chains,
Every side chain is made up of three revolute pairs and two connecting rods, and the 3-RRR sphere parallel mechanisms are a kind of typical spherical surface parallel connected machines
Structure（SPM）, there are three pure rotational freedoms, and each pivot center is met at a bit, the point is turning for 3-RRR sphere parallel mechanisms
Dynamic centerOPoint, each revolute pair axis of every movement branched chain are also met atOPoint, first, in center of rotationOEstablish and be connected at point
In the quiet coordinate system of silent flatformOX 0 Y 0 Z 0,Z 0It is upward to point to the normal direction of silent flatform,X 0Point toOPoint is with movement branched chain close to quiet
The continuous projecting direction on silent flatform of the rotation sub-center of platform,Y 0Determined by the right-hand rule, secondly, equally in rotation
The heartOThe moving coordinate system for being fixed on moving platform is established at pointOX 0 'Y 0 'Z 0 ', the coordinate system can move with the motion of moving platform,
In initial position, moving coordinate system overlaps with quiet coordinate system；
Define direction vectoru i (i=1,2,3) movement branched chain, is pointed toiThe axis of revolute pair between middle side link and silent flatform
Direction；Definitionv i (i=1,2,3) movement branched chain, is pointed toiThe axis direction of revolute pair between middle connecting rod and moving platform；Definitionw i
(i=1,2,3) axis direction of revolute pair between two connecting rods in same movement branched chain, is pointed to；
, can be by the spherical surface parallel connected machines of 3-RRR when studying its structural parameters because three movement branched chain is identical
Structure is reduced to a side chain as research object, and wall scroll movement branched chain shares four structural parameters：
α 1--- the angle of side link both ends revolute pair axis；
α 2--- the angle of connecting rod two end revolute pair axis；
β 1--- direction vectoru i With silent flatform normal directionOHAngle；
β 2--- direction vectorv i With silent flatform normal directionOH'Angle；
These structural parameters have an impact to the working space of mechanism, flexibility ratio, in order to obtain preferable flexibility ratio index,
Mechanism symmetry is considered simultaneously, dimension synthesis is carried out to four parameters, determines that optimum results areα 1=90 °,α 2=90 °,β 1=
54 °,β 2=54 °, the orthogonal feature of now 3-RRR sphere parallel mechanisms presentation, direction vectorv i Perpendicular tow i ；
The driving input of each bar movement branched chain is defined asθ i (i=1,2,3), because 3-RRR sphere parallel mechanisms are pure turn
Motivation structure, the attitude angle of its moving platform can be represented with Eulerian angles, using ZXY Eulerian angles [ϕ,θ,ψ] represent posture, moving axes
SystemOX 0 'Y 0 'Z 0 'Relative to quiet coordinate systemOX 0 Y 0 Z 0Coordinate transformation process be：
（1）Coordinate systemOX 0 Y 0 Z 0AroundZ 0RotateϕAngle, obtain middle coordinate systemOX 1 Y 1 Z 1；
（2）Coordinate systemOX 1 Y 1 Z 1AroundX 1Axle rotatesθAngle, obtain middle coordinate systemOX 2 Y 2 Z 2；
（3）Coordinate systemOX 2 Y 2 Z 2AroundY 2Axle rotatesψAngle, obtain moving coordinate systemOX 0 'Y 0 'Z 0 '；
By that can be write out from position fixing system with up-conversion processOX 0 Y 0 Z 0It is to moving coordinate systemOX 0 'Y 0 'Z 0 'Spin matrixR E ：
。
The 3-RRR sphere parallel mechanisms have a silent flatform and a moving platform, pedestal and the spherical surface parallel connected machines of 3-RRR
The silent flatform of structure is fixedly linked, and moving platform is then fixedly linked with foot pedal.
The movement branched chain is side link close to the connecting rod of silent flatform.
A side chain is also add in the spherical surface parallel connected structures of 3-RRR, is made up of a ball kinematic pair, the center of ball pivot with
The center of rotation of 3-RRR sphere parallel mechanisms overlaps, and the side chain has no driving, is mainly used in optimizing mechanism rigidity, increase carrying
Ability.
The beneficial effects of the utility model are：Using basic configuration of the 3-RRR sphere parallel mechanisms as robot, have
Flexibility is good, rigidity is high, compact portable, the advantages that meeting ankle-joint physiological structure feature；Completed on the basis of mechanism design
Design of Mechanical Structure；The modeling analysis of 3-RRR sphere parallel mechanisms is completed, by transformation matrix of coordinates and mechanism geometry about
Beam equation inference Inverse Kinematics Solution.The problem of difficult is solved for parallel institution forward kinematics solution, according to mechanism joint space
With the speed mapping relations of operating space, the forward kinematics solution that a kind of iterative algorithm calculates mechanism is devised, is proved by example
Algorithm has the characteristics of precision is high, iteration speed is fast；According to the different times of ankle-joint postoperative rehabilitation, two kinds of rehabilitations are devised
Training mode：Motor function training mode and muscle strength training pattern.Position controlling party is used under motor function training mode
Formula establishes the Control system architecture of robot；Impedance-controlled fashion is used under muscle strength training pattern, using " quality-resistance
Buddhist nun-spring " power model, robot is ensure that under passive work, being interacted with people has good compliance and security.
Brief description of the drawings
Fig. 1 ankle motion free degree schematic diagrames；
Fig. 2 is robot for rehabilitation of anklebone structural representation；
Fig. 3 is 3-RRR sphere parallel mechanism modeling figures.
In figure：1- pedestals, 2-3-RRR sphere parallel mechanisms, 3- pedals, 4- motors, 5- electric cabinets.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
Referring to Fig. 1~Fig. 3, a kind of new robot for rehabilitation of anklebone, including electric cabinet 5, pedestal 1, motor 4, volume
Code device, 3-RRR sphere parallel mechanisms 2 and foot's pedal 3；Wherein, 3-RRR sphere parallel mechanisms 2 are located at bottom base 1 and top
Between foot's pedal 3,3-RRR sphere parallel mechanisms 2 have three identical movement branched chains, every side chain by three revolute pairs and
Two connecting rod compositions, the 3-RRR sphere parallel mechanisms 2 are a kind of typical sphere parallel mechanisms（SPM）, there are three pure rotations
The free degree, and each pivot center is met at a bit, the point is the center of rotation of 3-RRR sphere parallel mechanisms 2OPoint, every motion branch
Each revolute pair axis of chain is also met atOPoint, first, in center of rotationOThe quiet coordinate system for being fixed on silent flatform is established at pointOX 0 Y 0 Z 0,Z 0It is upward to point to the normal direction of silent flatform,X 0Point toOPoint connects with rotation sub-center of the movement branched chain close to silent flatform
Continue the projecting direction on silent flatform,Y 0Determined by the right-hand rule, secondly, equally in center of rotationOFoundation is fixed at point
The moving coordinate system of moving platformOX 0 'Y 0 'Z 0 ', the coordinate system can move with the motion of moving platform, in initial position, moving axes
System overlaps with quiet coordinate system；
Define direction vectoru i (i=1,2,3) movement branched chain, is pointed toiThe axis of revolute pair between middle side link and silent flatform
Direction；Definitionv i (i=1,2,3) movement branched chain, is pointed toiThe axis direction of revolute pair between middle connecting rod and moving platform；Definitionw i
(i=1,2,3) axis direction of revolute pair between two connecting rods in same movement branched chain, is pointed to.
, can be by the spherical surface parallel connected machines of 3-RRR when studying its structural parameters because three movement branched chain is identical
Structure 2 is reduced to a side chain as research object, and wall scroll movement branched chain shares four structural parameters：
α 1--- the angle of side link both ends revolute pair axis；
α 2--- the angle of connecting rod two end revolute pair axis；
β 1--- direction vectoru i With silent flatform normal directionOHAngle；
β 2--- direction vectorv i With silent flatform normal directionOH'Angle；
These structural parameters have an impact to the working space of mechanism, flexibility ratio, in order to obtain preferable flexibility ratio index,
Mechanism symmetry is considered simultaneously, dimension synthesis is carried out to four parameters, determines that optimum results areα 1=90 °,α 2=90 °,β 1=
54 °,β 2=54 °, now 3-RRR sphere parallel mechanisms 2 orthogonal feature, direction vector is presentedv i Perpendicular tow i ；
The driving input of each bar movement branched chain is defined asθ i (i=1,2,3), because 3-RRR sphere parallel mechanisms 2 are pure
Rotating mechanism, the attitude angle of its moving platform can be represented with Eulerian angles, using ZXY Eulerian angles [ϕ,θ,ψ] represent posture, move and sit
Mark systemOX 0 'Y 0 'Z 0 'Relative to quiet coordinate systemOX 0 Y 0 Z 0Coordinate transformation process be：
（1）Coordinate systemOX 0 Y 0 Z 0AroundZ 0RotateϕAngle, obtain middle coordinate systemOX 1 Y 1 Z 1；
（2）Coordinate systemOX 1 Y 1 Z 1AroundX 1Axle rotatesθAngle, obtain middle coordinate systemOX 2 Y 2 Z 2；
（3）Coordinate systemOX 2 Y 2 Z 2AroundY 2Axle rotatesψAngle, obtain moving coordinate systemOX 0 'Y 0 'Z 0 '；
By that can be write out from position fixing system with up-conversion processOX 0 Y 0 Z 0It is to moving coordinate systemOX 0 'Y 0 'Z 0 'Spin matrixR E ：
。
The 3-RRR sphere parallel mechanisms 2 have a silent flatform and a moving platform, pedestal 1 and 3-RRR spherical surface parallel connected
The silent flatform of mechanism 2 is fixedly linked, and moving platform is then fixedly linked with foot pedal 3.
The movement branched chain is side link close to the connecting rod of silent flatform.
A side chain is also add in the spherical surface parallel connected structures of 3-RRR, is made up of a ball kinematic pair, the center of ball pivot with
The center of rotation of 3-RRR sphere parallel mechanisms 2 overlaps, and the side chain has no driving, is mainly used in optimizing mechanism rigidity, increase carrying
Ability.
The utility model uses basic configuration of the 3-RRR sphere parallel mechanisms 2 as robot, has flexibility good, firm
Degree is high, compact portable, the advantages that meeting ankle-joint physiological structure feature；Mechanical structure is completed on the basis of mechanism design to set
Meter；The modeling analysis of 3-RRR sphere parallel mechanisms 2 is completed, is derived by transformation matrix of coordinates and mechanism geometric constraint equation
Inverse Kinematics Solution.The problem of difficult is solved for parallel institution forward kinematics solution, according to mechanism joint space and operating space
Speed mapping relations, devise the forward kinematics solution that a kind of iterative algorithm calculates mechanism, demonstrating algorithm by example has
The characteristics of precision is high, iteration speed is fast；According to the different times of ankle-joint postoperative rehabilitation, two kinds of rehabilitation training patterns are devised：
Motor function training mode and muscle strength training pattern.Machine is established using position control mode under motor function training mode
The Control system architecture of people；Impedance-controlled fashion is used under muscle strength training pattern, using " mass-damper-spring " power
Model, robot is ensure that under passive work, being interacted with people has good compliance and security.
Claims (4)
- A kind of 1. new robot for rehabilitation of anklebone, it is characterised in that：Including electric cabinet, pedestal, motor, encoder, 3- RRR sphere parallel mechanisms and foot's pedal；Wherein, 3-RRR sphere parallel mechanisms be located at bottom base and top foot pedal it Between, 3-RRR sphere parallel mechanisms have three identical movement branched chains, and every side chain is by three revolute pairs and two connection rod sets Into the 3-RRR sphere parallel mechanisms are a kind of typical sphere parallel mechanisms, have three pure rotational freedoms, and each rotation Axis is met at a bit, and the point is the center of rotation of 3-RRR sphere parallel mechanismsOPoint, each turns auxiliary shaft of every movement branched chain Line is also met atOPoint.
- 2. new robot for rehabilitation of anklebone as claimed in claim 1, it is characterised in that：The 3-RRR sphere parallel mechanisms tool Have a silent flatform and a moving platform, the silent flatform of pedestal and 3-RRR sphere parallel mechanisms is fixedly linked, moving platform then with pin Portion's pedal is fixedly linked.
- 3. new robot for rehabilitation of anklebone as claimed in claim 1, it is characterised in that：The movement branched chain is close to silent flatform Connecting rod is side link.
- 4. new robot for rehabilitation of anklebone as claimed in claim 1, it is characterised in that：In the spherical surface parallel connected structures of 3-RRR also A side chain is added, is made up of a ball kinematic pair, the center of ball pivot and the center of rotation weight of 3-RRR sphere parallel mechanisms Close, the side chain has no driving, is mainly used in optimizing mechanism rigidity, increases bearing capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720687358.5U CN207071200U (en) | 2017-06-14 | 2017-06-14 | A kind of new robot for rehabilitation of anklebone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720687358.5U CN207071200U (en) | 2017-06-14 | 2017-06-14 | A kind of new robot for rehabilitation of anklebone |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207071200U true CN207071200U (en) | 2018-03-06 |
Family
ID=61512867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720687358.5U Active CN207071200U (en) | 2017-06-14 | 2017-06-14 | A kind of new robot for rehabilitation of anklebone |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207071200U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527323A (en) * | 2018-04-12 | 2018-09-14 | 南京理工大学 | A kind of sphere parallel mechanism of big revolution range |
| CN110434838A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of five degree of freedom broad sense sphere parallel mechanism |
| CN110507515A (en) * | 2019-10-08 | 2019-11-29 | 中北大学 | A kind of easy medical robot for rehabilitation of anklebone device |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
-
2017
- 2017-06-14 CN CN201720687358.5U patent/CN207071200U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527323A (en) * | 2018-04-12 | 2018-09-14 | 南京理工大学 | A kind of sphere parallel mechanism of big revolution range |
| CN108527323B (en) * | 2018-04-12 | 2021-04-16 | 南京理工大学 | Spherical parallel mechanism with large rotation range |
| CN110434838A (en) * | 2019-09-16 | 2019-11-12 | 河北工业大学 | A kind of five degree of freedom broad sense sphere parallel mechanism |
| CN110434838B (en) * | 2019-09-16 | 2024-04-16 | 河北工业大学 | Five-degree-of-freedom generalized spherical parallel mechanism |
| CN110507515A (en) * | 2019-10-08 | 2019-11-29 | 中北大学 | A kind of easy medical robot for rehabilitation of anklebone device |
| CN114668629A (en) * | 2022-04-22 | 2022-06-28 | 河北工业大学 | Novel four-degree-of-freedom ankle joint rehabilitation parallel mechanism with son closed chain |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107050763B (en) | Novel ankle joint rehabilitation robot and control method thereof | |
| CN207071200U (en) | A kind of new robot for rehabilitation of anklebone | |
| Zhang et al. | Reconfigurable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR) | |
| Girone et al. | The “Rutgers Ankle” orthopedic rehabilitation interface | |
| Tsoi et al. | Design and control of a parallel robot for ankle rehabilitation | |
| CN105997439A (en) | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs | |
| Liu et al. | Development of a new robotic ankle rehabilitation platform for hemiplegic patients after stroke | |
| CN104306133A (en) | Isotropic ankle joint rehabilitation parallel connecting mechanism | |
| CN111513982B (en) | Parallel ankle rehabilitation robot | |
| Singh et al. | Modeling and simulation of a passive lower-body mechanism for rehabilitation | |
| Li et al. | Dynamic analysis of a modified DELTA parallel robot for cardiopulmonary resuscitation | |
| Wang et al. | Design and experimental verification of a hip exoskeleton based on human–machine dynamics for walking assistance | |
| Li et al. | Kinematic analysis and dynamic control of a 3-PUU parallel manipulator for cardiopulmonary resuscitation | |
| He et al. | Design and analysis of a lightweight lower extremity exoskeleton with novel compliant ankle joints | |
| Pang et al. | Design and analysis of shoulder joint exoskeleton rehabilitation mechanism based on gear and rack transmission | |
| Jiang et al. | Research status on ankle rehabilitation robot | |
| Zhang et al. | Experiment study of impedance control on horizontal lower limbs rehabilitation robot | |
| Li et al. | [Retracted] The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation | |
| Geonea et al. | New assistive device for people with motor disabilities | |
| Zheng et al. | Kinematic characteristics analysis of wearable lower limb rehabilitation exoskeleton robot based on Adams | |
| CN210500263U (en) | Three-degree-of-freedom generalized spherical parallel mechanism | |
| CN113608451A (en) | Simulation control platform based on ROS and exoskeleton robot simulation control system | |
| Meng et al. | Design and modelling of a compliant ankle rehabilitation robot redundantly driven by pneumatic muscles | |
| Huo et al. | Development of a novel cable-driven parallel robot for full-cycle ankle rehabilitation | |
| Yang et al. | Mechanism design and kinematic analysis of a waist and lower limbs cable-driven parallel rehabilitation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |