Title: Design and development of a parallel robot based on an XY table for ankle rehabilitation

Authors: Andrés Blanco; Fabio A. Gómez; Víctor H. Olivares; Arturo Abundez; Jorge Colín

Addresses: Department of Mechanical Engineering, National Center for Research and Technological Development, Cuernavaca, Morelos 62490, México ' Department of Electromechanical Engineering, Higher Technological Institute of Puerto Vallarta, Puerto Vallarta, Jalisco, México ' Department of Electronic Engineering, National Center for Research and Technological Development, Cuernavaca, Morelos 62490, México ' Department of Mechanical Engineering, National Center for Research and Technological Development, Cuernavaca, Morelos 62490, México ' Department of Mechanical Engineering, National Center for Research and Technological Development, Cuernavaca, Morelos 62490, México

Abstract: The continuous passive motion (CPM) machines are used in the rehabilitation of members that have been injured to recover their range of motion and prevent stiffness. Nowadays, some CPM machines for knee, ankle, arm and elbow are available commercially. In this paper, a novel design of a parallel robot based on an XY table for ankle rehabilitation, that provides dorsiflexion-plantarflexion and abduction-adduction movements, is presented. Some results are presented in order to show the performance of the parallel robot for ankle rehabilitation. Proportional-derivative (PD), proportional-integral-derivative (PID) and generalised proportional integral (GPI) controllers for trajectory tracking are implemented in the virtual and physical prototype.

Keywords: ankle rehabilitation; parallel robots; rehabilitation systems; continuous passive motion; robot design; XY table; PD control; PID control; GPI control; controller design; trajectory tracking; robot control; robot trajectories; biomedical robots.

DOI: 10.1504/IJAAC.2015.070002

International Journal of Automation and Control, 2015 Vol.9 No.2, pp.89 - 106

Available online: 22 Jun 2015 *

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