Research Article
Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-SPS Mechanism
Figure 18
Experimental prototype of the robot and measurement system: (1) control cabinet, (2) gyro, (3) prototype of the robot, (4) load simulating patient foot, (5) PC for the control system of the robot, (6) PC for the measurement system, and (7) power analyzer.