In the realm of ankle rehabilitation, a novel 2-UPS/RRR parallel ankle rehabilitation robot (ARR) was introduced, taking into consideration the strengths and weaknesses of existing ankle rehabilitation robot models.The design process involved creating a 3D model of the mechanism using Solidworks software, and developing a movable platform with an adjustable rotation center to accommodate varying ankle rotation centers among patients.The degrees of freedom (DOF) were determined utilizing the Kutzbach-Gru bler formula.Geometric relationships were employed to derive kinematic inverse solution equations for the mechanism, which were subsequently validated through simulation and analysis using Matlab and Adams software.Displacement and velocity change profiles of the mechanism were generated through Adams software, the curve trend clearly indicates that the ankle rehabilitation mechanism exhibits smooth movement and demonstrates excellent kinematic performance.Furthermore, the impact of rehabilitation training on muscle strength and muscle activity in ankle-related muscles was assessed through biomechanical simulation software, specifically the AnyBody Modeling System, revealing effective training and rehabilitation outcomes for the pertinent muscles surrounding the ankle joint.Overall, the findings of this study suggest that the developed ankle rehabilitation robot is capable of fulfilling ankle rehabilitation duties and holds substantial practical significance.
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Wang et al. (2024) studied this question.
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