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. 2019 Mar 14:2019:4164790.
doi: 10.1155/2019/4164790. eCollection 2019.

Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)

Leiyu Zhang  1 , Jianfeng Li  1 , Mingjie Dong  1 , Bin Fang  2 , Ying Cui  3 , Shiping Zuo  1 , Kai Zhang  1
Affiliations

Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)

Leiyu Zhang et al. J Healthc Eng. .

Retraction in

Abstract

The ankle rehabilitation robot is essential equipment for patients with foot drop and talipes valgus to make up deficiencies of the manual rehabilitation training and reduce the workload of rehabilitation physicians. A parallel ankle rehabilitation robot (PARR) was developed which had three rotational degrees of freedom around a virtual stationary center for the ankle joint. The center of the ankle should be coincided with the virtual stationary center during the rehabilitation process. Meanwhile, a complete information acquisition system was constructed to improve the human-machine interactivity among the robot, patients, and physicians. The physiological motion space (PMS) of ankle joint in the autonomous and boundary elliptical movements was obtained with the help of the RRR branch and absolute encoders. The natural extreme postures of the ankle complex are the superposition of the three typical movements at the boundary motions. Based on the kinematic model of PARR, the theoretical workspace (TWS) of the parallel mechanism was acquired using the limit boundary searching method and could encircle PMS completely. However, the effective workspace (EWS) was smaller than TWS due to the physical structure, volume, and interference of mechanical elements. In addition, EWS has more clinical significance for the ankle rehabilitation. The PARR prototype satisfies all single-axis rehabilitations of the ankle and can cover most compound motions of the ankle. The goodness of fit of PMS can reach 93.5%. Hence, the developed PARR can be applied to the ankle rehabilitation widely.

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Conflict of interest statement

The authors declare that there are no conflicts of interest regarding the publication of this paper.

Figures

Figure 1
Figure 1
Skeletal structure of the ankle joint.
Figure 2
Figure 2
Structure of PARR.
Figure 3
Figure 3
Schematic diagram of PARR.
Figure 4
Figure 4
Structure of the moving platform.
Figure 5
Figure 5
PARR prototype.
Figure 6
Figure 6
Closed vector loop of UiPiSi.
Figure 7
Figure 7
Measurement experiments of PMS. (a) RRR branch of PARR. (b) Wooden clamp. (c) Experimental platform.
Figure 8
Figure 8
PMS of ankle joint.
Figure 9
Figure 9
Projections of PMS at the coordinate {oan}. (a) Plane xanoanyan. (b) Plane yanoanzan. (c) Plane xanoanzan.
Figure 10
Figure 10
Attitude angles in the boundary elliptical motion.
Figure 11
Figure 11
TWS and EWS of PARR.
Figure 12
Figure 12
PMS and EWS.
Figure 13
Figure 13
Projections of PMS and EWS at the coordinate {o0}. (a) Plane x0o0y0. (b) Plane y0o0z0. (c) Plane x0o0z0.
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