Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation.

摘要: Repetitive and intensive physiotherapy is indispensable to patients with ankle disabilities. Increasingly robot-assisted technology has been employed in the treatment reduce burden of therapists related costs patients. This paper proposes a configuration wearable parallel mechanism supplement equipment selection for rehabilitation. The kinematic analysis, i.e., inverse position solution Jacobian matrices, elaborated. Several performance indices, including reachable workspace index, motion isotropy force transfer maximum torque are developed based on derived solution. Moreover, according proposed design concept, mechanical structure that contains basic machine-drive system multi-model position/force data collection designed detail. Finally, results evaluation indicate robot possesses sufficient isotropy, high performance, large within can cover all possible range human complex, suitable