Design and Analysis of a Mechanism of Ankle Rehabilitation Robot

This paper puts forward a new type of wearable parallel mechanism on the basis of the analysis of the human ankle motion mechanism, damage analysis and methods of rehabilitation. The mechanism can realize three DOFs rotation of ankle. And the axes of the three rotations intersect at a point. Did the position and velocity analysis using the screw theory of mechanism analysis. The singularity and dexterity of this mechanism are also analyzed. According to the simulation result, this parallel mechanism has no singular configuration or uncertainty configuration in human lower limb workspace, has good maneuverability.