中文版 | English
Title

Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint

Author
Corresponding AuthorDai,Jian S.
Publication Years
2023
DOI
Source Title
ISSN
0094-114X
Volume179
Abstract
This paper presents a novel ankle rehabilitation exoskeleton with two rotational degrees of freedom, which is suitable for dynamical rehabilitation for patients with neurological impairments. Its stiffness performance is assessed in consideration that the interaction between the footplate and the ground may deflect the mechanism away from the desired/predefined motion patterns. The novel design employs a universal-prismatic-universal (U-P-U) joint link, whose constraint type changes between a couple and a line vector during manipulation of the exoskeleton. To conduct a stiffness analysis of such a mechanism with a type-variable constraint – for the first time – a modified screw-based method (SBM) is proposed. Comparisons with the results obtained from finite element analysis verified that, the modified SBM provides reliable estimates of the exoskeleton's stiffness within the complete workspace (covering the constraint-type transition configurations). The stiffness of the exoskeleton is further evaluated by acquiring the minimum/maximum stiffness values, after computing the distribution of the most crucial linear and angular stiffness parameters within the workspace. Moreover, the influence of the architectural parameters on the stiffness properties is considered for further design optimization.
Keywords
URL[Source Record]
Language
English
SUSTech Authorship
First ; Corresponding
Funding Project
Engineering and Physical Sciences Research Council[EP/S019790/1];Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004];
ESI Research Field
ENGINEERING
Scopus EID
2-s2.0-85139265439
Data Source
Scopus
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/406150
DepartmentSouthern University of Science and Technology
Affiliation
1.Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems,Southern University of Science and Technology,Shenzhen,518055,China
2.Centre for Robotics Research,Faculty of Natural,Mathematical & Engineering Sciences,King's College London,London,WC2R 2LS,United Kingdom
3.School of Electrical and Electronic Engineering,University of Leeds,LS2 9JT,United Kingdom
First Author AffilicationSouthern University of Science and Technology
Corresponding Author AffilicationSouthern University of Science and Technology
First Author's First AffilicationSouthern University of Science and Technology
Recommended Citation
GB/T 7714
Wang,Tun,Lin,Yen Hua,Spyrakos-Papastavridis,Emmanouil,et al. Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint[J]. MECHANISM AND MACHINE THEORY,2023,179.
APA
Wang,Tun,Lin,Yen Hua,Spyrakos-Papastavridis,Emmanouil,Xie,Sheng Quan,&Dai,Jian S..(2023).Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint.MECHANISM AND MACHINE THEORY,179.
MLA
Wang,Tun,et al."Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint".MECHANISM AND MACHINE THEORY 179(2023).
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