TY - GEN
T1 - Motion simulation of a hybrid parallel robot for ankle rehabilitation
AU - Rakhodaei, Hamid
AU - Saadat, Mozafar
AU - Rastegarpanah, Alireza
PY - 2014
Y1 - 2014
N2 - This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3- DOF parallel mechanism that is attached on top of the 6- DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector's position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.
AB - This paper addresses the path planning of a hybrid parallel robot for ankle rehabilitation. The robot contains 3- DOF parallel mechanism that is attached on top of the 6- DOF hexapod. The 6-UPU-3-UPR parallel robot is developed to simulate ankle motions for the rehabilitation of post-stroke patients with an affected ankle. The inverse kinematic of hybrid parallel robot is developed in order to track the end-effector's position through Matlab software. The calculated stroke size of each actuator is imported to apply the forward kinematic for determining the position of end-effector. The experimental and simulation values of the hexapod are compared with those of the hybrid structure through a number of exercise motion paths. The results reveal that, in general, the simulation values follow well the experimental values, although with different degrees of variation for each of the structures considered.
KW - Parallel robot
KW - Path planning
KW - Rehabilitation
UR - http://www.scopus.com/inward/record.url?scp=84916894919&partnerID=8YFLogxK
U2 - 10.1115/ESDA2014-20409
DO - 10.1115/ESDA2014-20409
M3 - Conference contribution
AN - SCOPUS:84916894919
T3 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
BT - Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics
PB - Web Portal ASME (American Society of Mechanical Engineers)
T2 - ASME 2014 12th Biennial Conference on Engineering Systems Design and Analysis, ESDA 2014
Y2 - 25 July 2014 through 27 July 2014
ER -