Design and Research of a 6-Degree-of-Freedom Parallel Ankle Rehabilitation Robot Based on Compliant Spherical Joints

The ankle joint is a crucial joint that supports walking in the human body. Ankle rehabilitation robots can effectively reduce the workload of caregivers and shorten the recovery time for patients. This paper proposes a 6-degree-of-freedom parallel ankle rehabilitation robot based on compliant spherical joints. First, a 6-degree-of-freedom parallel ankle rehabilitation robot based on compliant spherical joints is designed based on the Stewart platform configuration, and a kinematic analysis of the entire rehabilitation robot is conducted. Then, the compliant spherical joint is statically modeled using the matrix displacement method based on the nodal force balance equation, followed by a modal analysis. Finally, simulations of the 6-degree-of-freedom poses verify the feasibility of the proposed scheme.