Research Article

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

Table 5

Angle changes for the upper platform.

Number (°) (°) (°)
Around the shaft Around the shaft Around the shaft

1-2.57630.0165-0.0055
2-3.36180.0275-0.0055
3-4.14730.0385-0.0055
4-5.00980.0439-0.0055
5-5.86670.0494-0.0110
6-6.80050.0439-0.0055
7-7.70690.0439-0.0055
8-8.50340.0604-0.0110
9-9.28890.0769-0.0110
10-9.92070.0989-0.0165
11-10.54140.1099-0.0165
12-11.00830.1263-0.0220
13-11.42030.1373-0.0220