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Path planning of the hybrid parallel robot for ankle rehabilitation

Published online by Cambridge University Press:  27 May 2014

Hamid Rakhodaei ,
Mozafar Saadat ,
Alireza Rastegarpanah  and
Che Zulkhairi Abdullah
Hamid Rakhodaei
Affiliation:
School of Mechanical Engineering, University of Birmingham, Birmingham, West Midlands, UK
Mozafar Saadat*
Affiliation:
School of Mechanical Engineering, University of Birmingham, Birmingham, West Midlands, UK
Alireza Rastegarpanah
Affiliation:
School of Mechanical Engineering, University of Birmingham, Birmingham, West Midlands, UK
Che Zulkhairi Abdullah
Affiliation:
School of Mechanical Engineering, University of Birmingham, Birmingham, West Midlands, UK
*
*Corresponding author. E-mail: m.saadat@bham.ac.uk
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Summary

This 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.

Keywords

Control of robotic systemsPath planningDesignForce controlParallel manipulators
Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 173 - 184
Copyright
Copyright © Cambridge University Press 2014 

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