Motion Simulation of a Hybrid Parallel Robot for Ankle Rehabilitation

Rakhodaei, Hamid; Saadat, Mozafar; Rastegarpanah, Alireza

doi:10.1115/esda2014-20409

Cited by 4 publications

(2 citation statements)

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“…13,14 This made the hybrid parallel robot more efficient to use for ankle rehabilitation. 15 6DoF is needed in order to simulate the motion of the foot, but singularity and limited flexibility of the hexapod motivated us to push an idea for a new serial-parallel manipulator. The hybrid configuration is an elegant solution to increase the flexibility of the parallel robot and to achieve full range of foot motions.…”

Section: Introductionmentioning

confidence: 99%

Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation

Rastegarpanah

Rakhodaei

Saadat

et al. 2018

Advances in Mechanical Engineering

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Stiffness is one of the important parameters for estimating the performance of hybrid parallel robots as it is not constant throughout its workspace. The aim of this study is to provide an optimum path based on maximum stiffness within the workspace of a 9-degree-of-freedom hybrid parallel mechanism configuration, which includes nine linear actuators connecting one stationary and two moving platforms in series. The proposed robot is designed for ankle rehabilitation, where accurate and precise movement of lower extremities is required. The design takes advantage of two important characteristics of parallel robots: stiffness and workspace. The proposed methodology to determine the stiffness of hybrid robot in three single axes is based on calculation of position vector of each actuator in any particular pose, by considering the inverse kinematics of the system, in order to obtain the magnitude and direction of the applied forces. The results obtained from the workspace calculations have been compared with those of two standard parallel mechanisms including a 6-degree-of-freedom hexapod and a tripod with 3 degrees of freedom. The stiffness of the robot has been calculated in simulation and then compared with those of a developed prototype hybrid model in two different case studies.

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Section: Introductionmentioning

confidence: 99%

Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation

Rastegarpanah

Rakhodaei

Saadat

et al. 2018

Advances in Mechanical Engineering

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“…The dynamics' results are much more realistic in comparison with the kinematics' results in terms of fitting in torque constraints and limitation of the joints [ 20 ]. In another study, the path planning for a hybrid parallel robot with 9 DoF has been successfully investigated while the robot was tracking the foot trajectory of healthy subjects [ 21 , 22 ].…”

Section: Introductionmentioning

confidence: 99%

Lower Limb Rehabilitation Using Patient Data

Rastegarpanah

Saadat

2016

Applied Bionics and Biomechanics

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The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm.

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