Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6867402 | Robotics and Autonomous Systems | 2017 | 13 Pages |
Abstract
The novelty of this paper is the adjustable workspace and torque capacity of a compliant ankle rehabilitation robot (CARR). The robot has three rotational degrees of freedom (DOFs) redundantly actuated by four compliant actuators. It suffers from conflicting workspace and actuation torque due to the use of a parallel mechanism and compliant actuators. To address this issue, also considering physical constraints imposed by human users, the CARR is designed with reconfigurability to make a trade-off between workspace and torque capacity for meeting different training requirements. Theoretical analysis indicates that varying kinematic and dynamic performance of the robot can be achieved by reconfiguring the layout of the actuators. Experiments with/without load also demonstrate the validity of the reconfigurable robotic design for practical applications.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Mingming Zhang, Jinghui Cao, Guoli Zhu, Qing Miao, Xiangfeng Zeng, Sheng Q. Xie,