Research Article

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

Table 1

Actuation, RoM and motion decoupled characteristic of ankle rehabilitation robots.

YearAuthorsDOFRoMActuatorMotion decouples

2006Liu et al. [22]341.9° plantarflexionElectric motorNo
43.8° dorsiflexion
42.8° abduction
41.9° abduction
53.8° inversion
44.1° eversion

2006Yoon et al. [23]250° plantarflexion/dorsiflexionPneumatic actuatorNo
55° inversion/eversion

2009Saglia et al. [24]230° dorsiflexionElectric motorNo
60° plantarflexion
30° inversion
15° eversion

2009-2014Jamwal et al. [25, 26]346° plantarflexion/dorsiflexionPneumatic actuatorNo
52° abduction/adduction
26° inversion/eversion

2010Ding et al. [27]245° plantarflexion/dorsiflexionMagneto-rheological fluid (MRF)No
12° inversion/eversion

2013Bi [9]399.50° inversion/eversionElectric motorNo
56.00° dorsiflexion/plantarflexion
100.80° internal/external rotations

2018Liao et al. [13]375° plantar/dorsal flexionElectric motorNo
42° inversion/eversion

2018C.D. Wang (author of this paper)260° dorsiflexion/plantar flexionElectric motorYes
60° varus/valgus