Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)
المؤلفون المشاركون
Li, Jianfeng
Zhang, Leiyu
Dong, Mingjie
Fang, Bin
Cui, Ying
Zuo, Shiping
Zhang, Kai
المصدر
Journal of Healthcare Engineering
العدد
المجلد 2019، العدد 2019 (31 ديسمبر/كانون الأول 2019)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2019-03-14
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
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.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Zhang, Leiyu& Li, Jianfeng& Dong, Mingjie& Fang, Bin& Cui, Ying& Zuo, Shiping…[et al.]. 2019. Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR). Journal of Healthcare Engineering،Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1175188
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Zhang, Leiyu…[et al.]. Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR). Journal of Healthcare Engineering No. 2019 (2019), pp.1-10.
https://search.emarefa.net/detail/BIM-1175188
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Zhang, Leiyu& Li, Jianfeng& Dong, Mingjie& Fang, Bin& Cui, Ying& Zuo, Shiping…[et al.]. Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR). Journal of Healthcare Engineering. 2019. Vol. 2019, no. 2019, pp.1-10.
https://search.emarefa.net/detail/BIM-1175188
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1175188
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر