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Implementation of passive compliance training on a parallel ankle rehabilitation robot to enhance safety 期刊名称： Industrial Robot吕布与貂蝉的故事
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怎么申请哈佛大学作者： Jianfeng Li,Wenpei Fan,Mingjie Dong,Xi Rong
年份： 2020年
期号： 第ahead-of-print期
apogee关键词： Training safety;Admittance control;Passive compliance;Kinematic
联合国的英文缩写怎么读
analysis;Parallel ankle rehabilitation robot;Rehabilitation
to be lovedjack reacherrobots;Robotics;Control
肯尼迪遇刺视频摘要：Purpo The purpo of this paper is to implement a passive compliance training strategy for our newly designed 2-UPS/RRR parallel ankle rehabilitation robot (PARR) to enhance its rehabilitation training safety.
Design/methodology/approach First, a kinematic analysis of the PARR is introduced, and the mechanism ensures that the rotation centre of the ankle joint complex (AJC) coincides with robot's rotation centre. Then, a passive compliance training strategy bad on admittance control is described in detail and is implemented on our PARR. Findings Experiments involving healthy subjects were conducted, and the performance of trajectory tracking was quantitatively evaluated, with the results showing excellent compliance and trajectory tracking accuracy, which can ensure
feralthat a condary injury to the AJC during
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