Development of the Ankle Rehabilitation Robot

  • Shane (S.Q.) XieEmail author
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 108)


This chapter begins with an overview of the design requirements of an ankle rehabilitation robot. A suitable kinematic structure of the robot is then proposed. Workspace, singularity and force analyses of mechanisms having this structure are then presented. This is followed by a description of the robot hardware and interface. Operation of the developed rehabilitation robot relies on implementation of a suitable interaction controller, and a force-based impedance control approach had been taken in this research, whereby the desired robot impedance is realised through actuator-level force control. This chapter details the development of the multi-input multi-output (MIMO) actuator force controller devised in this work.


Parallel Mechanism Parallel Robot Actuator Force Spherical Joint Task Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.The Department of Mechanical EngineeringThe University of AucklandAucklandNew Zealand

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