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>Schematic of the robot. (a) The robot rotates by an angle of <svg height="6.1673pt" id="M9" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.51131 6.1673" width="7.51131pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M545 106L524 126C493 85 467 65 455 65C438 65 427 113 405 238C448 295 498 362 543 439L533 448L478 435C453 386 423 331 398 295H395C370 404 347 448 282 448C169 448 23 309 23 153C23 54 65 -12 128 -12C203 -12 283 70 339 155H341C360 29 380 -12 411 -12C444 -12 491 11 545 106ZM333 204C265 95 210 54 169 54C137 54 113 96 113 171C113 302 191 405 252 405C301 405 318 306 333 204Z"></path></g></svg> around the <span class="nowrap"><svg height="11.927pt" id="M10" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 14.9631 11.927" width="14.9631pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M748 650H522L515 622L546 617C580 611 587 604 565 575C518 513 469 451 419 393C376 474 349 534 330 580C318 609 325 612 361 618L383 622L392 650H151L144 622C214 616 224 612 257 543L360 327C270 218 187 124 159 95C106 40 92 34 26 28L17 0H252L259 28L236 31C189 37 188 47 209 78C249 136 308 210 377 294L478 79C494 44 487 37 449 32L418 28L409 0H673L680 28C596 34 591 39 554 116L436 361C526 469 574 521 604 553C659 612 669 614 739 622L748 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.88,3.132)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z"></path></g></svg>-</span>axis. (b) Drive branch chain. (1) Lower platform, (2) motor, (3) U-shaped connector, (4) screw rod, (5) guide frame, (6) slider block, (7) spring, (8) upper platform, and (9) ball pin structure.</div>

Applied Bionics and Biomechanics

fig2

Figure 2

Figure 2: 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 2