Title | Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint |
Author | |
Corresponding Author | Dai,Jian S. |
Publication Years | 2023
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DOI | |
Source Title | |
ISSN | 0094-114X
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Volume | 179 |
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
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SUSTech Authorship | First
; Corresponding
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Funding Project | Engineering and Physical Sciences Research Council[EP/S019790/1];Science, Technology and Innovation Commission of Shenzhen Municipality[ZDSYS20200811143601004];
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ESI Research Field | ENGINEERING
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Scopus EID | 2-s2.0-85139265439
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Data Source | Scopus
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Citation statistics |
Cited Times [WOS]:2
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Document Type | Journal Article |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/406150 |
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 Affilication | Southern University of Science and Technology |
Corresponding Author Affilication | Southern University of Science and Technology |
First Author's First Affilication | Southern 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.
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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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