Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation

doi:10.12068/j.issn.1005-3026.2019.03.002

Journal of Northeastern University Natural Science ›› 2019, Vol. 40 ›› Issue (3): 310-315.DOI: 10.12068/j.issn.1005-3026.2019.03.002

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Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation

WANG Hai-fang， LI Xin-qing， QIAO Xiang-yang， QI Chao-fei

School of Control Engineering， Northeastern University at Qinhuangdao，Qinhuangdao 066004， China.

Received:2018-01-09 Revised:2018-01-09 Online:2019-03-15 Published:2019-03-08
Contact: WANG Hai-fang
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Abstract

Abstract: The ankle is one of vulnerable parts of the low limb joints of the human body. Based on its structural characteristics， a 3-SPS/S parallel manipulator for ankle rehabilitation is built， and the inverse kinematics is solved by its dimensional characteristics. Then， the simulation platform of 3-SPS/S parallel manipulator for ankle rehabilitation is established by SimMechanics toolbox in Matlab software. A target trajectory is provided to produce input signals of actuating arms. Afterwards， the dynamics of parallel rehabilitation manipulator model are analyzed， and 3D rendering is generated. The experimental results show that it can provide the efficient and visual simulation platform to study the control strategy of parallel rehabilitation manipulator.

Key words: parallel manipulator, control system, simulation, SimMechanics, rehabilitation, ankle

CLC Number:

WANG Hai-fang， LI Xin-qing， QIAO Xiang-yang， QI Chao-fei. Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation[J]. Journal of Northeastern University Natural Science, 2019, 40(3): 310-315.

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Simulation of 3-SPS/S Parallel Manipulator Control System for Ankle Rehabilitation

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