Reconfigurable Parallel Robot for Physical Therapy of the Ankle
Read ArticleDate of Conference
July 18-22, 2022
Published In
"Education, Research and Leadership in Post-pandemic Engineering: Resilient, Inclusive and Sustainable Actions"
Location of Conference
Boca Raton
Authors
Agudelo Varela, Óscar
Fernández, Ángel Valera
Vargas Riaño, Julio Hernando
Abstract
In this work, we present the concept of a parallel robot inspired by the two-axis model of the human ankle. We use exponential coordinates to represent the position of the end effector. We use the ankle model as a reference and compare it with the robot configuration. Furthermore, we trace the workspaces of the robot platform and the movement of the foot. Finally, we show several examples of configuration.