Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Data detailed on Robotics have been pr esented. According to news reporting originating in Dongguan, People's Republic of China, by NewsRx journalists, research stated, "In this letter, a humanmachi ne compatible ankle rehabilitation robot (HMCARR) is proposed to help stroke pat ients with motion dysfunction recover their motor function. The HMCARR can make the human ankle center-of-rotation (H-CoR) and the ankle rehabilitation robot ce nter-of-rotation (R-CoR) coincide in real-time." Financial support for this research came from Key Scientific Research Platforms and Projects of Guangdong Regular Institutions of Higher Education, China. The news reporters obtained a quote from the research from the Dongguan Universi ty of Technology, "The overall idea is to analyze from the ‘human' perspective t o the ‘human-machine' perspective, and then to the ‘machine' perspective. Firstl y, from the ‘human' perspective: a spherical-pair-with-clearance equivalent huma n ankle model and a H-CoR estimation model are proposed, and the motion range of the H-CoR is analyzed. Secondly, from the ‘ human-machine' perspective: to obta in the mechanical design principles of the HMCARR, degree-of-freedom (DOF) and k inematic analyses of the human-machine closed chain model are conducted. Finally , from the ‘machine' perspective: DOF, kinematics, singularity, sensitivity, and workspace analysis are performed for the HMCARR based on a 3-RRCRR parallel mec hanism, where R and C represent a revolute pair and a cylindrical pair, respecti vely. This study indicates that the mechanical design principles of the HMCARR i nclude three requirements for the DOFs, kinematic independence, and position wor kspace."
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