Design and development of a parallel robot based on an XY table for ankle rehabilitation
by Andrés Blanco; Fabio A. Gómez; Víctor H. Olivares; Arturo Abundez; Jorge Colín
International Journal of Automation and Control (IJAAC), Vol. 9, No. 2, 2015

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.

Online publication date: Mon, 22-Jun-2015

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Automation and Control (IJAAC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email