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

Figure 3

The structural model of the robot: (1) lower platform, (2) motor, (3) U-shaped connector, (4) screw rod, (5) guide frame, (6) slider block, (7) spring, (8) upper platform, (9) ball pin structure, and (10) foot buckle.