Kinematic Design of a 2-SPS/PU&R 4-DOF Hybrid Robot for Ankle Rehabilitation

Ruiqin Li, Xiaoqin Fan, Xiang Li, Shaoping Bai, Jianwei Zhang

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review


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.
Original languageEnglish
Title of host publicationAdvances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
Publication date2019
ISBN (Print)978-3-030-20130-2
ISBN (Electronic)978-3-030-20131-9
Publication statusPublished - 2019
EventIFToMM World Congress on Mechanism and Machine Science - , Poland
Duration: 15 Jul 201918 Jul 2019


ConferenceIFToMM World Congress on Mechanism and Machine Science
SeriesMechanisms and Machine Science

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