ArticleFrontiers in neurorobotics2020
Design and Performance Evaluation of a Novel Wearable Parallel Mechanism for Ankle Rehabilitation.
Article in Frontiers in neurorobotics, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers, 2 of them syntheses that pooled it.
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Who cites it
3 citing papers in PubMed, 2 syntheses or guidelines pooled it, 39 citations in OpenAlex.
- Configuration design of ankle rehabilitation robots: a systematic review and future prospects.Journal of neuroengineering and rehabilitation · 2025Pooled it
- State of the art in parallel ankle rehabilitation robot: a systematic review.Journal of neuroengineering and rehabilitation · 2021Pooled it
- Patient-Specific Exercises with the Development of an End-Effector Type Upper Limb Rehabilitation Robot.Journal of healthcare engineering · 2022Article
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Authors and funding
6 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Repetitive and intensive physiotherapy is indispensable to patients with ankle disabilities. Increasingly robot-assisted technology has been employed in the treatment to reduce the burden of the therapists and the related costs of the patients. This paper proposes a configuration of a wearable parallel mechanism to supplement the equipment selection for ankle rehabilitation. The kinematic analysis, i.e., the inverse position solution and Jacobian matrices, is elaborated. Several performance indices, including the reachable workspace index, motion isotropy index, force transfer index, and maximum torque index, are developed based on the derived kinematic solution. Moreover, according to the proposed kinematic configuration and wearable design concept, the mechanical structure that contains a basic machine-drive system and a multi-model position/force data collection system is designed in detail. Finally, the results of the performance evaluation indicate that the wearable parallel robot possesses sufficient motion isotropy, high force transfer performance, and large maximum torque performance within a large workspace that can cover all possible range of motion of human ankle complex, and is suitable for ankle rehabilitation.
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