Title :
Analysis and synthesis of ankle motion and rehabilitation robots
Author :
Sui, Pengju ; Yao, Ligang ; Lin, Zhifeng ; Yan, Huayang ; Dai, Jian S.
Author_Institution :
Sch. of Mech. Eng. & Autom., Fuzhou Univ., Fuzhou, China
Abstract :
The ankle represents one of the most complex bone structures in human body and the overall ankle motion is therefore complicate. In addition, motion analysis of ankle is a key issue in ankle rehabilitation and in developing an ankle rehabilitation device. Based on the analysis of the structure of ankle and its motion, this paper proposed two types of motion modes of ankle, according to the modes, two different kinds of rehabilitation robots are proposed respectively. Then the mechanical design, the kinematics and workspace analysis are derived for the proposed rehabilitation robots.
Keywords :
medical robotics; patient rehabilitation; ankle motion; mechanical design; motion analysis; rehabilitation robots; workspace analysis; Automation; Bones; Foot; Injuries; Joints; Kinematics; Ligaments; Mechanical engineering; Motion analysis; Rehabilitation robotics; Ankle rehabilitation; ankle motion mode; kinematics; workspace analysis;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420487
