Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-S<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06569958pt" id="M1" height="15.1614pt" version="1.1" viewBox="-0.0657574 -15.0957 5.14162 15.1614" width="5.14162pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><path id="g50-31" d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z"/></g></svg>PS<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06569958pt" id="M2" height="15.1614pt" version="1.1" viewBox="-0.0657574 -15.0957 5.14162 15.1614" width="5.14162pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><use xlink:href="#g50-31"/></g></svg> Mechanism

<div>Torque for the upper platform moving upward. MOTION_1: modified constant velocity function; MOTION_2: modified sine function, MOTION_3: modified trapezoidal function.</div>

Applied Bionics and Biomechanics

fig15

Figure 15

Figure 15: Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-S<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06569958pt" id="M1" height="15.1614pt" version="1.1" viewBox="-0.0657574 -15.0957 5.14162 15.1614" width="5.14162pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><path id="g50-31" d="M310 541L304 571C290 586 211 619 185 610L80 76L131 52L310 541Z"/></g></svg>PS<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.06569958pt" id="M2" height="15.1614pt" version="1.1" viewBox="-0.0657574 -15.0957 5.14162 15.1614" width="5.14162pt"><g transform="matrix(.012,0,0,-0.012,0,-7.578)"><use xlink:href="#g50-31"/></g></svg> Mechanism 

Applied Bionics and Biomechanics

Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-SPS Mechanism

Figure 15