Design and kinematic simulation of ankle joint rehabilitation parallel robot

Qimin Ling; Jianwen Wang

doi:10.1117/12.3026814

1 April 2024 Design and kinematic simulation of ankle joint rehabilitation parallel robot

Qimin Ling, Jianwen Wang

Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 1308202 (2024) https://doi.org/10.1117/12.3026814
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China

Abstract

The person can easy to cause ankle injuries in daily activities. Therefore, the demand for ankle rehabilitation treatment is increasing. Due to the long rehabilitation cycle of the ankle joint and there is a shortage of rehabilitation therapists in China, making it difficult to receive timely rehabilitation treatment. Therefore, designing an ankle rehabilitation robot can alleviate the above situation. This thesis first studies the movement space that human ankles can reach. Secondly, determine the robot mechanism as the Stewart mechanism. To calculate the inverse solution of Stewart joint length by Matlab, using Newton method and PSO algorithm to perform forward solution to verify the accuracy of the inverse solution. Finally, the designed Stewart mechanism is imported into Simscape for dynamic simulation and its joint extension is controlled through a PID controller. The simulation results verify that the rehabilitation robot can stably achieve the required posture under PID control.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Qimin Ling and Jianwen Wang "Design and kinematic simulation of ankle joint rehabilitation parallel robot", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 1308202 (1 April 2024); https://doi.org/10.1117/12.3026814

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