Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism
Abstract Ankle sprains are among the most common musculoskeletal injuries. Patients often require systematic rehabilitation training to expedite tissue healing and facilitate joint recovery. However, such training places high demands on medical staff, involves a lengthy process, requires considerable labor, and suffers from a shortage of skilled rehabilitation personnel. To address the need for effective ankle joint dysfunction rehabilitation training, this study analyzes the bone structure and movement mechanism of the ankle. Drawing on the parallel mechanism configuration, we propose a 4UPS-RRR parallel ankle rehabilitation mechanism. The rotation center of the rehabilitation mechanism can be highly coincident with the rotation center of the human ankle joint. The structure and degrees of freedom of the mechanism were designed and analyzed using screw theory. Additionally, a kinematic model of the mechanism was established. The mechanism's workspace was mapped by constraining the linear actuator length and spherical joint rotation angle. Furthermore, the mechanism's dexterity was assessed through the establishment of its Jacobian matrix, with the correctness of the kinematic model verified through simulation. Finally, an experimental platform was utilized to test the maximum range of robot motion, confirming the practicality of the ankle rehabilitation mechanism.
- Location
-
Deutsche Nationalbibliothek Frankfurt am Main
- Extent
-
Online-Ressource
- Language
-
Englisch
- Bibliographic citation
-
Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism ; volume:15 ; number:2 ; year:2024 ; pages:417-430 ; extent:14
Mechanical sciences ; 15, Heft 2 (2024), 417-430 (gesamt 14)
- Creator
-
Shi, Kan
Wang, Zongjia
Yan, Changtao
Wang, Zhiwei
- DOI
-
10.5194/ms-15-417-2024
- URN
-
urn:nbn:de:101:1-2408061131517.650304728620
- Rights
-
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Last update
-
14.08.2025, 10:45 AM CEST
Data provider
Deutsche Nationalbibliothek. If you have any questions about the object, please contact the data provider.
Associated
- Shi, Kan
- Wang, Zongjia
- Yan, Changtao
- Wang, Zhiwei
Other Objects (12)
A performance study of the impact of recombination on species tree analysis
Effect of c-BN Size and Content on the Self-Propagating High-Temperature Synthesis of c-BN Composites Bonded with Ti-Al-C System Multiphase Products
Association of non-insulin-dependent insulin resistance indices with lower limb artery restenosis after drug-coated balloon angioplasty
Progress in the treatment of osteoarthritis with umbilical cord stem cells
Effect of joint line orientation parameters on initial bone resection in mechanically aligned total knee arthroplasty: a retrospective clinicoradiological correlation study
Autonomic remodeling may be responsible for decreased incidence of aortic dissection in STZ-induced diabetic rats via down-regulation of matrix metalloprotease 2
Surgical treatment of double aortic arch malformation combined with descending aortic arch dissection in adults: a case series
3D residual attention hierarchical fusion for real-time detection of the prostate capsule
The association of body composition with abdominal aortic aneurysm growth after endovascular aneurysm repair
Unenhanced computed tomography radiomics help detect endoleaks after endovascular repair of abdominal aortic aneurysm
Investigating the potential mechanism of quercetin against cervical cancer
A trailer car dynamics model considering brake rigging of a high-speed train and its application
A performance study of the impact of recombination on species tree analysis
Effect of c-BN Size and Content on the Self-Propagating High-Temperature Synthesis of c-BN Composites Bonded with Ti-Al-C System Multiphase Products
Association of non-insulin-dependent insulin resistance indices with lower limb artery restenosis after drug-coated balloon angioplasty
Progress in the treatment of osteoarthritis with umbilical cord stem cells
Effect of joint line orientation parameters on initial bone resection in mechanically aligned total knee arthroplasty: a retrospective clinicoradiological correlation study
Autonomic remodeling may be responsible for decreased incidence of aortic dissection in STZ-induced diabetic rats via down-regulation of matrix metalloprotease 2
Surgical treatment of double aortic arch malformation combined with descending aortic arch dissection in adults: a case series
3D residual attention hierarchical fusion for real-time detection of the prostate capsule
The association of body composition with abdominal aortic aneurysm growth after endovascular aneurysm repair
Unenhanced computed tomography radiomics help detect endoleaks after endovascular repair of abdominal aortic aneurysm
Investigating the potential mechanism of quercetin against cervical cancer
A trailer car dynamics model considering brake rigging of a high-speed train and its application
A performance study of the impact of recombination on species tree analysis
Effect of c-BN Size and Content on the Self-Propagating High-Temperature Synthesis of c-BN Composites Bonded with Ti-Al-C System Multiphase Products
Association of non-insulin-dependent insulin resistance indices with lower limb artery restenosis after drug-coated balloon angioplasty
Progress in the treatment of osteoarthritis with umbilical cord stem cells
Effect of joint line orientation parameters on initial bone resection in mechanically aligned total knee arthroplasty: a retrospective clinicoradiological correlation study
Autonomic remodeling may be responsible for decreased incidence of aortic dissection in STZ-induced diabetic rats via down-regulation of matrix metalloprotease 2
Surgical treatment of double aortic arch malformation combined with descending aortic arch dissection in adults: a case series
3D residual attention hierarchical fusion for real-time detection of the prostate capsule
The association of body composition with abdominal aortic aneurysm growth after endovascular aneurysm repair
Unenhanced computed tomography radiomics help detect endoleaks after endovascular repair of abdominal aortic aneurysm
Investigating the potential mechanism of quercetin against cervical cancer