Path planning of the hybrid parallel robot for ankle rehabilitation

Hamid Rakhodaei; Mozafar Saadat; Alireza Rastegarpanah; Che Zulkhairi Abdullah

doi:10.1017/S0263574714001210

Path planning of the hybrid parallel robot for ankle rehabilitation

Hamid Rakhodaei, Mozafar Saadat, Alireza Rastegarpanah, Che Zulkhairi Abdullah

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

17 Citations (Scopus)

Abstract

This paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.

Original language	English
Pages (from-to)	1-12
Journal	Robotica
Early online date	27 May 2014
DOIs	https://doi.org/10.1017/S0263574714001210
Publication status	Published - 2014

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http://www.journals.cambridge.org/abstract_S0263574714001210

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title = "Path planning of the hybrid parallel robot for ankle rehabilitation",

abstract = "This paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.",

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AU - Saadat, Mozafar

AU - Rastegarpanah, Alireza

AU - Abdullah, Che Zulkhairi

PY - 2014

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N2 - This paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.

AB - This paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.

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JO - Robotica

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Path planning of the hybrid parallel robot for ankle rehabilitation

Abstract

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