Ankle joint injury is a common athletics injury in clinic. It can be treated in a medical way, besides, rehabilitation exercises are needed, sufferers can regain the ankle joint's function to the greatest extent and enhance the proprioception. In this paper, a medical treatment robot is proposed for ankle joint rehabilitation exercises, in which the 3-RSS/S parallel mechanism is adopted based on the ankle joint's movements. The mechanical design is described and the inverse kinematic is derived, as a result, the Jacobian matrix is obtained. Furthermore, a reality model of the robot is built by UG and simulated under the ADMS environment. It shows the design can meet the needs of ankle joint rehabilitation movements. In order to validate these concepts, the first prototype is developed that driven by three torque motors and equipped with force sensor for sensing the interaction force between patient's foot and robot. At last, the robot's control system is presented in the paper.

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This paper builds a system to perceive the been training a lot of Neural Networks to contribute to their unknown environment based on multi-sensor data fusion. It results. As Neural Network integration is easy to use and its enables the self-determined mobile robot to identify the type of result is obvious, even if the ordinary engineers lacking of the obstacles around it timely in the process of travel, and the nerve calculate experience can benefit from it. mobile robot will achieve more intelligent operations. First, the This paper develops a system to perceive the unknown paper introduces the theory of the mobile robot's environmental environment based on multi-sensor data fusion, which enables perception and the configuration of the multi-sensor data fusion elf-etemined obilensot datifusion, of enacles technology. Second, it combines the characteristics of neural the self-determinedmobile robot identifythe type of obstacles network (NN) and brings forward that apply the MLP around it timely in the process of travel, and the mobile robot (Multi-layer perception), which based on the improved back will achieve more intelligent operations. Two sub-networks of propagation (BP) arithmetic and four mature items of fusion environmental perception structure are separately built, and rules, to perceive the real surroundings aiming at simplifying the will be incorporated each other by parallel connection to form former solving projects. Third, the paper presents a structure of a high-powered recognition system, which can be divided into multi-sensor data fusion, which two sub-networks for barrier two sub-networks, Sub-I and Sub-2. Sub-I is composed of a recognition are separately built and incorporates with each other CCD camera and an ultrasonic transducer, and Sub-2 is by parallel connection to form a high-powered recognition . o system. Finally, the results of experiment present that the method composed of an infrared sensor and an ultrasonic transducer.given byFthepaperare veryxpleasant.The correctness will be experimentally validated used the homemade mobile robot. Simulation of the robotic Index Terms -Mobile robot, Environmentalperception, multi-sensor barrier recognition is also presented and Multi-sensor data fusion, Multi-layer perceptron (MLP), discussed in this paper. The result that the integrated network Decision-making. exports indicates a good identification.

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Considering the difficulty in regeneration the stroke patient's neurons by modern medicine, the rehabilitation robots are widely studied to help the patient reduce influence caused by the stroke illness. In this paper, the lower limb rehabilitation robot, which has eight degree of freedoms, is studied. The motion data of the lower limb rehabilitation robot are got by the great number of models provided by OpenSim motion simulation. The physical simulation model of the walking gait rehabilitation robot can be established by UG. The dynamic simulation of the lower limb rehabilitation robot's walking gait is done. The simulation results of the angular displacement curves, the angular velocity curves, and the angular acceleration curves of the four joints of the lower limb rehabilitation robot are got in this paper. These results can be used in the position, velocity and force controlling of the lower limb rehabilitation robot. The simulation technique by computers can be adopted to make a quick and accurate analysis of the motion system of the lower limb rehabilitation robot, which is useful for the design of the robotic mechanics and the improvement of the control scheme.

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