2019 : A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator

Moch. Solichin S.T., M.T.


This paper deals with the constraint-based design, optimum design and reconfiguration strategy of a 3-RPS parallel manipulator. Some design conditions related to the base and moving-platform design parameters and the three degree-of-freedom operation modes are derived. A 3-RPS parallel manipulator with two types of operation modes is generated by following those conditions. Due to its potential advantages, this manipulator is used as an ankle rehabilitation device which can cover the ankle joint motion. To derive the optimum parameters, kinematic optimization is conducted by initially parametrizing the orientation workspace and it turns out that its orientation workspace is not symmetrical. The singularity loci are traced in its orientation workspace. A performance index, named Maximum Inscribed Circle Diameter (MICD) is presented to assess the maximum tilt of the moving-platform for any azimuth angle …