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Kinematic Calibration of a Parallel 2-UPS/RRR Ankle Rehabilitation Robot
- Source :
- Journal of Healthcare Engineering, Journal of Healthcare Engineering, Vol 2020 (2020)
- Publication Year :
- 2020
- Publisher :
- Hindawi Limited, 2020.
-
Abstract
- In order to better perform rehabilitation training on the ankle joint complex in the direction of dorsiflexion/plantarflexion and inversion/eversion, especially when performing the isokinetic muscle strength exercise, we need to calibrate the kinematic model to improve its control precision. The ankle rehabilitation robot we develop is a parallel mechanism, with its movements in the two directions driven by two linear motors. Inverse solution of positions is deduced and the output lengths of the two UPS kinematic branches are calibrated in the directions of dorsiflexion, plantarflexion, inversion, and eversion, respectively. Motion of each branch in different directions is fitted in high-order form according to experimental data. Variances, standard deviation, and goodness of fit are taken into consideration when choosing the best fitting curve, which ensures that each calibration can match the most appropriate fitting curve. Experiments are conducted to verify the effectiveness of the kinematic calibration after finishing the calibration, and the errors before and after calibration of the two kinematic chains in different directions are compared, respectively, which shows that the accuracy after calibration has been significantly improved.
- Subjects :
- Medicine (General)
0209 industrial biotechnology
Article Subject
Computer science
Movement
Biomedical Engineering
Health Informatics
02 engineering and technology
Kinematics
Standard deviation
Motion
R5-920
020901 industrial engineering & automation
Goodness of fit
Control theory
Medical technology
0202 electrical engineering, electronic engineering, information engineering
medicine
Calibration
Humans
Muscle Strength
R855-855.5
Range of Motion, Articular
Muscle, Skeletal
Foot
business.industry
020208 electrical & electronic engineering
Reproducibility of Results
Robotics
Linear motor
Biomechanical Phenomena
Mechanism (engineering)
medicine.anatomical_structure
Surgery
Artificial intelligence
Ankle
business
Ankle Joint
Research Article
Biotechnology
Subjects
Details
- ISSN :
- 20402309 and 20402295
- Volume :
- 2020
- Database :
- OpenAIRE
- Journal :
- Journal of Healthcare Engineering
- Accession number :
- edsair.doi.dedup.....d70797145e3b7cedbf7c33edfe3171ad