Mechanical Design and Performance Analysis of a Novel Parallel Robot for Ankle Rehabilitation

Li, Jianfeng; Zuo, Shuguang; Zhang, Leiyu; Dong, Mingjie; Zhang, Zikang; Tao, Chunjing; Ji, Run

doi:10.1115/1.4046511

Cited by 38 publications

(18 citation statements)

References 47 publications

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“…It is difficult to conduct timely and standardized rehabilitation after ankle joint injury, and it is difficult to guarantee the duration of rehabilitation training. When running or jumping, the ankle joint bears huge load and impact, which is a fragile part of the human body [10][11][12].The causes of illness are mostly caused by indirect violent causes such as eversion, external rotation or inversion. If the treatment method is not selected properly, it will seriously reduce the patient's quality of life [13][14].…”

Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

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Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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show abstract

“…4n [37,38], which can also be changed into a 3-RUS/U redundant mechanism with 2-DOFs when the redundant actuator of the constraint limb is self-locked [39]; the 3-DOF 3-PRS parallel manipulator for ankle rehabilitation shown in Fig. 4o [40][41][42]; and the 3-DOF 2-UPS/RRR PARR shown in Fig. 4p [43][44][45][46]. For all these PARRs, the most commonly used actuator of pneumatic-driven PARRs is the pneumatic muscle actuator (PMA) due to its superiority in terms of low weight and high power/volume ratios, which can provide an intrinsic softness to make joint compliance possible [47,70].…”

Section: Mechanism Configurationsmentioning

confidence: 99%

“…Therefore, a designed PARR must have a sufficient workspace and excellent kinematic performance, such as velocity transfer performance and force transfer performance. Because the AJC has 3-DOFs, many PARRs are designed with 3-DOFs, such as the PARRs in [24,32,34,35,37,40,[43][44][45], to satisfy all the motion of the AJC. Some PARRs are designed to have only 2-DOFs to simplify the mechanism by eliminating the AD/AB motion, such as the PARRs in [25,55].…”

Section: Similarities Among the Reviewed Parrs Mechanical Design And mentioning

confidence: 99%

State of the art in parallel ankle rehabilitation robot: a systematic review

Dong

Zhou

et al. 2021

J NeuroEngineering Rehabil

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Background The ankle joint complex (AJC) is of fundamental importance for balance, support, and propulsion. However, it is particularly susceptible to musculoskeletal and neurological injuries, especially neurological injuries such as drop foot following stroke. An important factor in ankle dysfunction is damage to the central nervous system (CNS). Correspondingly, the fundamental goal of rehabilitation training is to stimulate the reorganization and compensation of the CNS, and to promote the recovery of the motor system’s motor perception function. Therefore, an increasing number of ankle rehabilitation robots have been developed to provide long-term accurate and uniform rehabilitation training of the AJC, among which the parallel ankle rehabilitation robot (PARR) is the most studied. The aim of this study is to provide a systematic review of the state of the art in PARR technology, with consideration of the mechanism configurations, actuator types with different trajectory tracking control techniques, and rehabilitation training methods, thus facilitating the development of new and improved PARRs as a next step towards obtaining clinical proof of their rehabilitation benefits. Methods A literature search was conducted on PubMed, Scopus, IEEE Xplore, and Web of Science for articles related to the design and improvement of PARRs for ankle rehabilitation from each site’s respective inception from January 1999 to September 2020 using the keywords “ parallel”, “ ankle”, and “ robot”. Appropriate syntax using Boolean operators and wildcard symbols was utilized for each database to include a wider range of articles that may have used alternate spellings or synonyms, and the references listed in relevant publications were further screened according to the inclusion criteria and exclusion criteria. Results and discussion Ultimately, 65 articles representing 16 unique PARRs were selected for review, all of which have developed the prototypes with experiments designed to verify their usability and feasibility. From the comparison among these PARRs, we found that there are three main considerations for the mechanical design and mechanism optimization of PARRs, the choice of two actuator types including pneumatic and electrically driven control, the covering of the AJC’s motion space, and the optimization of the kinematic design, actuation design and structural design. The trajectory tracking accuracy and interactive control performance also need to be guaranteed to improve the effect of rehabilitation training and stimulate a patient’s active participation. In addition, the parameters of the reviewed 16 PARRs are summarized in detail with their differences compared by using figures and tables in the order they appeared, showing their differences in the two main actuator types, four exercise modes, fifteen control strategies, etc., which revealed the future research trends related to the improvement of the PARRs. Conclusion The selected studies showed the rapid development of PARRs in terms of their mechanical designs, control strategies, and rehabilitation training methods over the last two decades. However, the existing PARRs all have their own pros and cons, and few of the developed devices have been subjected to clinical trials. Designing a PARR with three degrees of freedom (DOFs) and whereby the mechanism’s rotation center coincides with the AJC rotation center is of vital importance in the mechanism design and optimization of PARRs. In addition, the design of actuators combining the advantages of the pneumatic-driven and electrically driven ones, as well as some new other actuators, will be a research hotspot for the development of PARRs. For the control strategy, compliance control with variable parameters should be further studied, with sEMG signal included to improve the real-time performance. Multimode rehabilitation training methods with multimodal motion intention recognition, real-time online detection and evaluation system should also be further developed to meet the needs of different ankle disability and rehabilitation stages. In addition, the clinical trials are in urgent need to help the PARRs be implementable as an intervention in clinical practice.

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“…Ankle rehabilitation robots have been a research hotspot in medical rehabilitation in the past few decades. According to the interactive human-machine spectrum, ankle rehabilitation robots can be divided into the wearable type and the pedal type [8,9]. Anklebot, a wearable ankle rehabilitation robot proposed by MIT, was powered by two parallel linear motors.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

Zou

Zhang

et al. 2022

Micromachines

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The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effective rehabilitation training, the bone structure and motion mechanism of the ankle were analyzed in this paper. Referring to the configuration of the lower-mobility parallel mechanism, a 3-RRS (R and S denote revolute and spherical joint respectively) parallel ankle rehabilitation robot (PARR) was proposed. The robot can realize both single and compound ankle rehabilitation training. The structure of the robot was introduced, and the kinematics model was established. The freedom of movement of the robot was analyzed using the screw theory, and the robot kinematics were analyzed using spherical analytics theory. A circular composite rehabilitation trajectory was planned, and the accuracy of the kinematics model was verified by virtual prototype simulation. The Multibody simulation results show that the trajectory of the target point is basically the same as the expected trajectory. The maximum trajectory error is about 2.5 mm in the simulation process, which is within the controllable range. The experimental results of the virtual prototype simulation show that the maximum angular deflection error of the three motors is 2° when running a circular trajectory, which meets the experimental requirements. Finally, a control strategy for passive rehabilitation training was designed, and the effectiveness of this control strategy was verified by a prototype experiment.

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Mechanical Design and Performance Analysis of a Novel Parallel Robot for Ankle Rehabilitation

Cited by 38 publications

References 47 publications

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

State of the art in parallel ankle rehabilitation robot: a systematic review

Design and Experimental Research of 3-RRS Parallel Ankle Rehabilitation Robot

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