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Applied Bionics and Biomechanics
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Special Issues
Applied Bionics and Biomechanics
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2019
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Article
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Tab 5
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Research Article
Research on an Ankle Joint Auxiliary Rehabilitation Robot with a Rigid-Flexible Hybrid Drive Based on a 2-S
PS
Mechanism
Table 5
Angle changes for the upper platform.
Number
(°)
(°)
(°)
Around the shaft
Around the shaft
Around the shaft
1
-2.5763
0.0165
-0.0055
2
-3.3618
0.0275
-0.0055
3
-4.1473
0.0385
-0.0055
4
-5.0098
0.0439
-0.0055
5
-5.8667
0.0494
-0.0110
6
-6.8005
0.0439
-0.0055
7
-7.7069
0.0439
-0.0055
8
-8.5034
0.0604
-0.0110
9
-9.2889
0.0769
-0.0110
10
-9.9207
0.0989
-0.0165
11
-10.5414
0.1099
-0.0165
12
-11.0083
0.1263
-0.0220
13
-11.4203
0.1373
-0.0220