ArticleJournal of healthcare engineering2020
Kinematic Calibration of a Parallel 2-UPS/RRR Ankle Rehabilitation Robot.
Article in Journal of healthcare engineering, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers, 2 of them syntheses that pooled it.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
2 citing papers in PubMed, 2 syntheses or guidelines pooled it.
- 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
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In order to better perform rehabilitation training on the ankle joint complex in the direction of dorsiflexion/plantarflexion and inversion/eversion, especially when performing the isokinetic muscle strength exercise, we need to calibrate the kinematic model to improve its control precision. The ankle rehabilitation robot we develop is a parallel mechanism, with its movements in the two directions driven by two linear motors. Inverse solution of positions is deduced and the output lengths of the two UPS kinematic branches are calibrated in the directions of dorsiflexion, plantarflexion, inversion, and eversion, respectively. Motion of each branch in different directions is fitted in high-order form according to experimental data. Variances, standard deviation, and goodness of fit are taken into consideration when choosing the best fitting curve, which ensures that each calibration can match the most appropriate fitting curve. Experiments are conducted to verify the effectiveness of the kinematic calibration after finishing the calibration, and the errors before and after calibration of the two kinematic chains in different directions are compared, respectively, which shows that the accuracy after calibration has been significantly improved.
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Registered trials
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