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

  • Ruiqin LiEmail author
  • Xiaoqin Fan
  • Xiang Li
  • Shaoping Bai
  • Jianwei Zhang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


(2-SPS/PU)&R Ankle joint Rehabilitation robot Hybrid mechanism Kinematics 


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This research was funded by the Key Research and Development Project of Shanxi Province (201803D421027, 201803D421028) and the Foundation of Shanxi Key Laboratory of Advanced Manufacturing Technology (Grant number XJZZ201702).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ruiqin Li
    • 1
    Email author
  • Xiaoqin Fan
    • 1
  • Xiang Li
    • 1
  • Shaoping Bai
    • 2
  • Jianwei Zhang
    • 3
  1. 1.School of Mechanical EngineeringNorth University of ChinaTaiyuanChina
  2. 2.Department of Mechanical and Manufacturing EngineeringAalborg UniversityAalborgDenmark
  3. 3.Department of InformaticsUniversity of HamburgHamburgGermany

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