Design and kinematic trajectory planning and simulation analysis of a passive ankle rehabilitation robot based on a 3-PRPS parallel mechanism

被引：0

作者：

Wang, Xinlei ^{[1
]}

Wang, Jirong ^{[1
,2
]}

Qin, Jiangtao ^{[1
]}

Lin, Sian ^{[1
]}

机构：

[1] Qingdao Univ, Coll Mech & Elect Engn, Qingdao 266071, Peoples R China

[2] Qingdao Univ, Weihai Innovat Res Inst, Weihai 264200, Peoples R China

来源：

PROCEEDINGS OF 2023 4TH INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE FOR MEDICINE SCIENCE, ISAIMS 2023 | 2023年

关键词：

3-PRPS; parallel mechanism; rehabilitation;

D O I：

10.1145/3644116.3644215

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The ankle is an important load-bearing joint in the human body, which often causes neurological and muscular injuries in practical life. A multi degree of freedom ankle rehabilitation robot that conforms to the theory of rehabilitation is of great significance for helping patients recover. In response to the shortcomings of limited degrees of freedom and single motion form in current ankle rehabilitation robots, this paper designs a passive ankle rehabilitation robot based on a 3-PRPS parallel mechanism and establishes a virtual prototype of a 3-PRPS parallel mechanism ankle rehabilitation robot. The Kinematics trajectory planning is carried out according to the constraint conditions of each component and the motion characteristics of the ankle joint in the rehabilitation process. The correctness of Kinematics analytical formula is verified through inverse kinematics simulation analysis.

引用

页码：598 / 604

页数：7

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