A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation

@article{Saglia2009AHP,
  title={A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation},
  author={Jody Alessandro Saglia and Nikolaos G. Tsagarakis and Jian S. Dai and Darwin G. Caldwell},
  journal={2009 IEEE International Conference on Robotics and Automation},
  year={2009},
  pages={2180-2186}
}
This paper presents the mechanical design of an ankle rehabilitation robotic device based on a 2-dof, redundantly actuated parallel mechanism. The parallel mechanism introduced in this paper has the advantage of mechanical and kinematic simplicity when compared to existing platforms while at the same time it is fully capable of carrying out all the exercises required by ankle rehabilitation protocols. The proposed device makes use of actuation redundancy to eliminate singularity and greatly… CONTINUE READING

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