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

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="9"><hr/></td></tr><tr class="thead"><td class="align_left"></td><td class="align_center"><span style="width: 12.249ptpx;"><svg height="12.2532pt" id="M218" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 12.249 12.2532" width="12.249pt" 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="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><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 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208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z"></path></g></svg></span></td><td class="align_center"><span style="width: 12.249ptpx;"><svg height="12.2532pt" id="M225" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -8.96212 12.249 12.2532" width="12.249pt" 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="M620 675H597C578 656 570 650 541 650H144C112 650 104 653 94 675H72C59 618 42 552 23 493L53 491C71 534 88 564 105 585C124 608 144 615 238 615H290L197 121C182 40 174 34 88 28L82 0H361L367 28C275 34 266 38 281 121L374 615H441C522 615 543 608 553 583C562 560 566 531 565 493L597 494C603 551 612 629 620 675Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.176,3.132)"><path d="M453 623H65C60 580 56 530 46 472H80C103 538 110 548 175 548H389C310 380 195 168 90 0L98 -12L175 -2C273 206 366 408 462 610L453 623Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="9"><hr/></td></tr><tr><td class="align_left">Modified trapezoid motion law</td><td class="align_center">0</td><td class="align_center">1/8</td><td class="align_center">3/8</td><td class="align_center">1/2</td><td class="align_center">1/2</td><td class="align_center">5/8</td><td class="align_center">7/8</td><td class="align_center">1</td></tr><tr><td class="align_left">Modified sinusoidal motion law</td><td class="align_center">0</td><td class="align_center">1/8</td><td class="align_center">1/8</td><td class="align_center">1/2</td><td class="align_center">1/2</td><td class="align_center">7/8</td><td class="align_center">7/8</td><td class="align_center">1</td></tr><tr><td class="align_left">Modified constant velocity motion law</td><td class="align_center">0</td><td class="align_center">1/16</td><td class="align_center">1/16</td><td class="align_center">1/4</td><td class="align_center">3/4</td><td class="align_center">15/16</td><td class="align_center">15/16</td><td class="align_center">1</td></tr><tr class="table-tr"><td colspan="9"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Applied Bionics and Biomechanics

tab2

Table 2

Table 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

Table 2