Journal of Healthcare Engineering / 2018 / Article / Tab 2

Review Article

Towards Optimal Platform-Based Robot Design for Ankle Rehabilitation: The State of the Art and Future Prospects

Table 2

Examples of ankle rehabilitation robots with optimal design for different applications.

ExamplesDOFTypeAlignmentPosture adjustabilityWorkspaceActuation torqueApplication fields

Zhang et al. [7]1SM-based platformYesYesAppropriateAppropriate+
OptiFlex Ankle CPM [20]2SM-based platformYesYesAppropriateAppropriate++
Zhang [21]3PM-based platformYesYesOptimization should be conducted for appropriate robot workspace and actuation torque, and reconfigurable design should be also encouraged.+++

SM: serial mechanism; PM: parallel mechanism.
Note: represents the characteristics an optimal ankle rehabilitation robot must have; + refers to the fields of intelligent ankle stretching only for dorsiflexion/plantarflexion; ++ refers to the fields of passive training for ankle inversion/eversion and adduction/abduction; +++ refers to the fields of comprehensive ankle training in a three-dimensional space.