Kinematic Calibration of a Parallel 2-UPS/RRR Ankle Rehabilitation Robot

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Motion direction</td><td class="align_center">ROM (<span class="nowrap"><svg height="7.35473pt" id="M2" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 4.94072 7.35473" width="4.94072pt" 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="M326 255C326 330 263 391 186 391S46 330 46 255S109 119 186 119S326 180 326 255ZM274 255C274 204 235 163 186 163S98 204 98 255S137 347 186 347S274 306 274 255Z"></path></g></svg>)</span></td><td class="align_center">MAW (<span class="nowrap"><svg height="7.35473pt" id="M3" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 4.94072 7.35473" width="4.94072pt" 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="M326 255C326 330 263 391 186 391S46 330 46 255S109 119 186 119S326 180 326 255ZM274 255C274 204 235 163 186 163S98 204 98 255S137 347 186 347S274 306 274 255Z"></path></g></svg>)</span></td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Dorsiflexion</td><td class="align_center">20.3<svg height="5.65839pt" id="M4" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>29.8</td><td class="align_center">30.0</td></tr><tr><td class="align_left">Plantarflexion</td><td class="align_center">37.6<svg height="5.65839pt" id="M5" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>45.8</td><td class="align_center">45.0</td></tr><tr><td class="align_left">Inversion</td><td class="align_center">14.5<svg height="5.65839pt" id="M6" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>22.0</td><td class="align_center">22.0</td></tr><tr><td class="align_left">Eversion</td><td class="align_center">10.0<svg height="5.65839pt" id="M7" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>17.0</td><td class="align_center">22.0</td></tr><tr><td class="align_left">Abduction</td><td class="align_center">15.4<svg height="5.65839pt" id="M8" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>25.9</td><td class="align_center">36.0</td></tr><tr><td class="align_left">Adduction</td><td class="align_center">22.0<svg height="5.65839pt" id="M9" style="vertical-align:-0.04980993pt" version="1.1" viewbox="-0.0498162 -5.60858 7.75925 5.65839" width="7.75925pt" 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="M548 311L516 323C497 274 452 240 400 240C372 240 342 260 316 278C277 305 235 330 188 330C116 330 66 268 40 199L72 187C91 236 136 270 188 270C216 270 246 250 272 232C311 205 353 180 400 180C472 180 522 242 548 311Z"></path></g></svg>36.0</td><td class="align_center">36.0</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>ROM of the AJC [<a href="/journals/jhe/2020/3053629/#B24" target="_blank">24</a>] and MAW of the designed PARR.</div>

Journal of Healthcare Engineering

tab1

Table 1

Table 1: Kinematic Calibration of a Parallel 2-UPS/RRR Ankle Rehabilitation Robot 