Article

On the Study of Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

2021-08-17

Abstract excerpt

The kinematic equivalent model of the existing ankle rehabilitation robot is inconsistent with the anatomy structure of the human ankle, which will influence the rehabilitation effect . Therefore, this paper equivalent the human ankle to the UR model and proposes a novel 3-DOF generalized spherical parallel mechanism for ankle rehabilitation. The parallel mechanism has two spherical centers corresponding to the ro...

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Literature Corpus work: 76d9dfaa-a89e-5a1e-a6e9-83b8d0c6cff5
DOI: 10.21203/rs.3.rs-808820/v1

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