Path planning of the hybrid parallel robot for ankle rehabilitation

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

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


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 languageEnglish
Pages (from-to)1-12
Early online date27 May 2014
Publication statusPublished - 2014


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