Kinematics Design of a 3 DOF Ankle Rehabilitator

EasyChair Preprint 5183

Abstract

This work presents the kinematic analysis used to validate the functionality of the design and construction of a three-degree ankle rehabilitation prototype of continuous passive freedom of movement, capable of performing basic ankle movements, flexion/extension, supination/pronation and abduction/aduction. Two kinematic chains are synthesised, using the circuit closure and Euler equations, which allow to determine the lengths, speeds and accelerations of the linear actuators of the mechanism to meet the positions and movements of the mobile platform of the rehabilitator. Path profiles for rehabilitator platform movements were based on polynomials 4-5-6-7.

Keyphrases: Cadenas cinemáticas, Cinemático, Movimiento, abducción/aducción, efector final, flexión/extensión, rehabilitador, supinación/pronación

@booklet{EasyChair:5183,
  author    = {Agustín Barrera Sánchez and Wilberth Melchor Alcocer Rosado and Mc. Miguel Ángel García Velarde and Andrés Blanco Ortega and Arturo Abúndez Pliego and Jorge Colin Ocampo},
  title     = {Kinematics Design of a 3 DOF Ankle Rehabilitator},
  howpublished = {EasyChair Preprint 5183},
  year      = {EasyChair, 2021}}