@inproceedings{3022a4db905b4484ac4d7d80ed969a07,
title = "Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation",
abstract = "A (2-SPS/PU)&R 4-DOF hybrid robot for ankle rehabilitation is presented in this paper. The robot is able to generate three-dimensional rotations and a stretching motion along the lower limb direction for ankle rehabilitation. In the paper, the inverse kinematics of the parallel mechanism is analyzed using closed-loop vector method. The velocity Jacobian matrix of the parallel mechanism is solved. The kinematics of the (2-SPS/PU)&R hybrid mechanism is simulated using ADAMS software. The results show that the mechanism can reach the motion ranges needed for ankle joint rehabilitation.",
author = "Ruiqin Li and Xiaoqin Fan and Xiang Li and Shaoping Bai and Jianwei Zhang",
year = "2019",
doi = "10.1007/978-3-030-20131-9_183",
language = "English",
isbn = "978-3-030-20130-2",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "1849--1858",
booktitle = "Advances in Mechanism and Machine Science",
address = "Germany",
note = "IFToMM World Congress on Mechanism and Machine Science ; Conference date: 15-07-2019 Through 18-07-2019",
}