Kinematic Calibration of a Parallel 2-UPSRRR Ankle Rehabilitation Robot
Joint Authors
Kong, Yuan
Dong, Mingjie
Li, Jianfeng
Fan, Wenpei
Source
Journal of Healthcare Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-09-03
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In order to better perform rehabilitation training on the ankle joint complex in the direction of dorsiflexion/plantarflexion and inversion/eversion, especially when performing the isokinetic muscle strength exercise, we need to calibrate the kinematic model to improve its control precision.
The ankle rehabilitation robot we develop is a parallel mechanism, with its movements in the two directions driven by two linear motors.
Inverse solution of positions is deduced and the output lengths of the two UPS kinematic branches are calibrated in the directions of dorsiflexion, plantarflexion, inversion, and eversion, respectively.
Motion of each branch in different directions is fitted in high-order form according to experimental data.
Variances, standard deviation, and goodness of fit are taken into consideration when choosing the best fitting curve, which ensures that each calibration can match the most appropriate fitting curve.
Experiments are conducted to verify the effectiveness of the kinematic calibration after finishing the calibration, and the errors before and after calibration of the two kinematic chains in different directions are compared, respectively, which shows that the accuracy after calibration has been significantly improved.
American Psychological Association (APA)
Dong, Mingjie& Kong, Yuan& Li, Jianfeng& Fan, Wenpei. 2020. Kinematic Calibration of a Parallel 2-UPSRRR Ankle Rehabilitation Robot. Journal of Healthcare Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1186240
Modern Language Association (MLA)
Dong, Mingjie…[et al.]. Kinematic Calibration of a Parallel 2-UPSRRR Ankle Rehabilitation Robot. Journal of Healthcare Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1186240
American Medical Association (AMA)
Dong, Mingjie& Kong, Yuan& Li, Jianfeng& Fan, Wenpei. Kinematic Calibration of a Parallel 2-UPSRRR Ankle Rehabilitation Robot. Journal of Healthcare Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1186240
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1186240