SUMMARYThis 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.

Inaccurate judgement of distances in virtual environments (VEs) restricts their usefulness for engineering development, in which engineers must have a good understanding of the spaces they are designing. Multimodal feedback can improve depth perception in VEs, but this has yet to be implemented and tested in engineering applications with systems which provide haptic feedback to the body.The project reported in this paper will develop a multimodal VE to improve engineers' understanding of 3D spaces. It will test the concept of "sensory illusions" where the point of collision in the VE differs to the point of haptic feedback on the body. This will permit the use of fewer vibrotactile devices and therefore the development of a more wearable system. This paper describes related work in multisensory and tactile stimulation which suggests that our perception of a stimulus is not fixed to the point of contact.

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This paper presents a multisensory and low-cost virtual training simulator developed in Unity 3D, with the aim of improving the effectiveness of Occupational Safety and Health (OSH) training. The prototype system facilitates heat and smell feedback functions operated by an Arduino microprocessor and triggered based on the proximity of the avatar to receptive 4 within the Virtual Environment (VE). The prototype enables the creation of bespoke virtual representations using the 3D scanning function of the Google Tango device making multisensory VE OSH training a feasible and versatile approach in the short-term future.

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