Design of 6-DOF Parallel Ankle Rehabilitation Robot

Abstract

Hemiplegia caused by stroke usually requires a lot of rehabilitation to restore normal motor function. The ankle joint is an important structure for human walking, and its rehabilitation training is the basis for restoring the normal physiological functions of patients with hemiplegia. Compared with traditional manual rehabilitation training led by therapists, the rehabilitation robot can not only complete the repeated training process, but also accurately record the patient's physiological data and make rehabilitation evaluation. Based on the parallel mechanism with simple structure and precise control characteristics, this paper establishes a prototype model of the ankle joint rehabilitation robot, simulates the ankle joint motion, and realizes the expected function.