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Applied Bionics and Biomechanics
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Special Issues
Applied Bionics and Biomechanics
/
2019
/
Article
/
Tab 3
/
Research Article
Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-S
PS
Mechanism
Table 3
Analysis results of maximum angular speed and acceleration of the platform and maximum motor torque.
Curve
Project
Maximum angular velocity (rad/s)
Maximum angular acceleration (rad/s
2
)
Motor maximum torque (N·mm)
Upward motion
Downward motion
Upward motion
Downward motion
Upward motion
Downward motion
Spring in the elastic state
Modified trapezoid
0.234
-0.223
-0.756
0.503
0.382
0.534
Modified constant velocity
0.164
-0.155
-0.222
-1.290
0.401
0.560
Modified sinusoidal
0.208
-0.197
0.200
0.440
0.384
0.538
Spring in the rigid state
Modified trapezoid
0.229
-0.222
0.414
-0.538
0.387
0.539
Modified constant velocity
0.157
-0.150
-0.209
-0.555
0.407
0.559
Modified sinusoidal
0.201
-0.194
-0.593
-0.197
0.391
0.541