Existing ankle rehabilitation robots have the limitations of insufficient motion ranges and coupled translations. An improved spherical robot has been proposed to overcome these limitations. The forward and inverse kinematic problems of this new machine are formulated and solved; the dexterity of the workspace is evaluated and the workspace has been optimized with the consideration of the motion ranges of passive joints. The operation of machine has been simulated; it will be further expanded as a control program to run the rehabilitation robot.
No takes yet. Share an insight, caveat, or question.
Zhuming Bi (2012) studied this question.
Synapse has enriched 5 related papers. Consider them for comparative context: