One-translation and two-rotation type parallel ankle joint rehabilitation robot and working method

Abstract

The invention relates to the field of ankle joint rehabilitation robots, in particular to a one-translation and two-rotation type parallel ankle joint rehabilitation robot and a working method. The parallel mechanism comprises a static platform, a first mixed branch chain, a second just constraint branch chain and a movable platform, and a basic kinematic chain containing two loops is formed. The mechanism only comprises a translation pair and a rotation pair, so that the mechanism has the advantages of high rigidity and good precision.

Description

Technical Field

[0001] This invention relates to the field of ankle joint rehabilitation robot technology, and in particular to a parallel ankle joint rehabilitation robot with one translation and two rotations and its working method. Background Technology

[0002] The main function of ankle rehabilitation robots is to promote the rehabilitation of patients with ankle injuries, reduce the workload of doctors, and help doctors objectively evaluate the patient's condition by collecting data during the rehabilitation training process. Many parallel ankle rehabilitation robots have been disclosed in the existing technology, such as:

[0003] Lu Zongxing, Wu Guangjin, Yao Ligang, et al. A structure and usage method of an ankle joint rehabilitation robot: 201911279194.2 [P]. 2020-02-28.

[0004] Nurahmi L, Caro S and Solichin M. A novel ankle rehabilitation devicebased on a reconfigurable 3-RPS parallel manipulator. Mech. Mach. Theory2019; 134: 135–150.

[0005] Saglia JA, Tsagarakis NG, Dai JS, et al. Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT). IEEE / ASME Trans. Mechatron. 2012; 18(6): 1799–1808.

[0006] Zhang XS, Sun Y, Jiang AD, et al. Kinematic / stiffness analysis, comparison and optimization of a redundantly actuated ankle rehabilitationrobot and its non-redundantly actuated form. Mech. and Mach. Theory 2025;214: 106131.

[0007] Zhang Yanbin, Wei Xuemin, Xu Zehua, et al. A three-branch, two-rotation parallel robot mechanism for ankle joint rehabilitation: 202110119416.5 [P]. 2025-03-11. However, most existing ankle rehabilitation robots have ball joints, which reduce the range of motion of the mechanism or have complex structures, increasing manufacturing costs and control difficulties. Therefore, it is essential to propose a ball joint rehabilitation robot that is hinge-free, has high rigidity, a compact structure, is easy to install, and is inexpensive. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to provide a parallel ankle joint rehabilitation robot with one translation and two rotations and its working method in order to overcome the shortcomings of the prior art. The mechanism contains only translational and rotational joints and has the advantages of compact structure, easy processing and manufacturing, convenient installation, large range of motion and low price.

[0009] The technical solution adopted by the present invention to solve its technical problem is: a parallel ankle joint rehabilitation robot with one translation and two rotations, characterized in that: it includes a static platform, a hybrid branch one, a constrained branch two, and a moving platform; The first hybrid branch is composed of a planar sub-parallel mechanism and a sub-chain connected in series; the planar sub-parallel mechanism includes a branch chain one and a branch chain two connected in parallel; the first branch chain is composed of a translation joint one, a revolute joint two, and a revolute joint three connected in series in sequence; the second branch chain is composed of a translation joint two, a revolute joint seven, and a revolute joint eight connected in series in sequence. The constrained branch two is composed of translation joint three, rotation joint nine, and rotation joint ten connected in series. The three translation joints, namely translation joint one, translation joint two, and translation joint three, have parallel axes and are all vertically set on the stationary platform. Define the intersection point of the first axis of the translation joint and the upper surface of the stationary platform as: The intersection point of the second axis of the translation pair and the upper surface of the stationary platform is... The intersection of the three axes of the translation pair and the upper surface of the stationary platform is: The origin O of the coordinate system is point ,point The midpoint of the connecting line segment; the Z-axis is parallel to the direction of the translation sub-axis, with upward being the positive direction; the positive X-axis points from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. In the planar sub-parallel mechanism, the axes of four rotary joints—rotary joint two, rotary joint three, rotary joint seven, and rotary joint eight—are all in the X-direction. The sub-chain is composed of revolute joint four and revolute joint five connected in series, with their axes parallel to each other; the axes of revolute joint three and revolute joint eight are both perpendicular to the axis of revolute joint four, and revolute joint three and revolute joint eight are connected in parallel and then connected in series with revolute joint four; the axis of revolute joint four is parallel to the YOZ plane; the axes of revolute joint four and revolute joint five are parallel to the axis of revolute joint ten; revolute joint five is connected to the moving platform; The axis of the revolute joint nine in the constrained branch two is in the X direction, and the axis of the revolute joint ten is perpendicular to the direction of the revolute joint nine and parallel to the YOZ plane; the axis of the revolute joint nine and the axis of the revolute joint ten intersect at a point; the revolute joint ten is connected to the moving platform.

[0010] Furthermore, when the translation joint 1, translation joint 2, and translation joint 3 are driving joints, the moving platform can realize two-dimensional rotational output motion along the Z-axis and around the axis of the revolute joint 9 and the axis of the revolute joint 10. Meanwhile, the axis of the ninth rotating joint and the axis of the tenth rotating joint intersect at a point to form a U-joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

[0011] The present invention also provides a parallel ankle joint rehabilitation robot with one translation and two rotations, characterized in that it includes a static platform, a hybrid branch one, a constrained branch two, and a moving platform; The hybrid branch chain one is composed of a planar sub-parallel mechanism and a sub-chain connected in series; the planar sub-parallel mechanism includes a branch chain one and a branch chain two connected in parallel; the branch chain one is composed of a revolute joint one, a revolute joint two, and a revolute joint three connected in series in sequence; the branch chain two is composed of a revolute joint six, a revolute joint seven, and a revolute joint eight connected in series in sequence; The second constrained branch chain is composed of translational joint three, revolute joint nine, and revolute joint ten connected in series; the axis of translational joint three is vertically set on the stationary platform. Define the projection point of the geometric center point of the revolute joint onto the surface of the stationary platform along the three axes of the translational joint as... The projection point of the geometric center point of the revolute joint six along the direction of the translation joint three axes onto the surface of the stationary platform is: The intersection of the three axes of the translation pair with the upper surface of the stationary platform. The origin O of the coordinate system is point O. and points The midpoint of the connecting line segment; the Z-axis is parallel to the three axes of the translation joint, and upward is the positive direction; the positive X-axis points from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. The static platform is provided with a fixed support; the first rotating joint of the planar sub-parallel mechanism is provided on the fixed support, and the axes of the first, second and third rotating joints are all in the X direction; the sixth rotating joint is provided on the fixed support, and the axes of the sixth, seventh and eighth rotating joints are all in the X direction. The sub-chain is composed of revolute joint four and revolute joint five connected in series, with their axes parallel to each other; the axes of revolute joint one and revolute joint six are both perpendicular to the axis of revolute joint four, and revolute joint three and revolute joint eight are connected in parallel and then connected in series with revolute joint four; the axis of revolute joint four is parallel to the YOZ plane; the axes of revolute joint four and revolute joint five are parallel to the axis of revolute joint ten; revolute joint five is connected to the moving platform. In the constrained branch 2, the axis of the revolute joint 9 is in the X direction, and the axis of the revolute joint 10 is perpendicular to the direction of the revolute joint 9 and parallel to the YOZ plane; the axis of the revolute joint 9 and the axis of the revolute joint 10 intersect at a point; the revolute joint 10 is connected to the moving platform.

[0012] Furthermore, when the first revolute joint, the sixth revolute joint, and the third translational joint are driving joints, the moving platform can realize two-dimensional rotational output motion along the Z-axis and around the axis of the ninth revolute joint and the axis of the tenth revolute joint. Meanwhile, the axis of the ninth rotating joint and the axis of the tenth rotating joint intersect at a point to form a U-joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

[0013] The beneficial effects of this invention are as follows: The parallel ankle joint rehabilitation mechanism of the present invention, consisting of a translational and a rotational joint, has a hybrid branch one and a constrained branch two, forming a two-loop kinematic chain containing only translational and rotational joints, thereby achieving the advantages of high rigidity and good precision. The ankle joint rehabilitation mechanism of the present invention has a compact structure, is easy to install and maintain, and has a symmetrical structure, which facilitates processing and control. At the same time, the ankle joint rehabilitation robot of the present invention has no ball joints, and the moving platform is connected to the branch through a rotational joint, which has the characteristics of simple structure and large range of motion, and has strong adaptability to people of different heights. Therefore, this invention is of great significance for the further promotion of ankle joint rehabilitation robots. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a schematic diagram of Example 1; Figure 2 This is a schematic diagram of Example 2; Figure 1 , Figure 2 In the middle: 0, static platform; 1, moving platform; 2, link two; 3, link three; 4, link four; Rotating pair two, Rotating pair three, Rotate the fourth pair, Rotating joint five; Rotating pair seven, Rotating pair eight; Rotate the secondary nine, Rotating pair ten; , translation of the third sub-axis; Translation pair 1, 1. Translation of the second sub-sub; Rotating pair one, Six rotating joints; I. Hybrid branch one; II. Just-constrained branch two; Translation pair 1 ( The intersection of the axis and the upper surface of the stationary platform (0) or the revolute joint ( The geometric center point is along the translational sub-point ( The projection point of the axis direction onto the upper surface of the static platform (0), Translation of the second sub-sub ( The intersection of the axis with the upper surface of the stationary platform (0) or the revolute joint six ( The geometric center point is along the translational sub-point ( The projection point of the axis direction onto the upper surface of the static platform (0), Translation of the third sub-sub ... The intersection of the axis and the upper surface of the static platform (0), O: point With point The midpoint of the line segment connecting points, X: along point O pointing to point... The direction of the Z axis is parallel to the direction of the translation sub-axis, with upward being positive, and the Y axis conforms to the right-hand rule. Detailed Implementation

[0016] The invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention. Therefore, they only show the components relevant to the invention, and the orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be limiting, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0017] like Figure 1 As shown, a parallel ankle joint rehabilitation robot with one translation and two rotations is characterized by comprising a static platform 0, a hybrid branch I, a constrained branch II, and a moving platform 1. The hybrid branch I is composed of a planar sub-parallel mechanism and a series of sub-chains; the planar sub-parallel mechanism includes a branch chain I and a branch chain II connected in parallel; the branch chain I consists of a translation pair I connected in series. Rotating pair 2 Rotating pair three Composition; the second branch chain consists of two translation joints connected in series. Rotating pair seven Rotating auxiliary eight constitute; The constrained branch II is composed of translational joint III. Rotate the auxiliary nine Rotating pair ten Composed of sequential series; The translation pair Translation of the second sub-axis Peaceful relocation of deputy third The three translational sub-axises are parallel and are all set vertically on the static platform 0; Define translation pair 1 The intersection point of the axis and the upper surface of the static platform 0 is Translation of the second sub-axis The intersection point of the axis and the upper surface of the static platform 0 is Translation of the third sub-axis The intersection of the axis and the upper surface of the static platform 0 is The origin O of the coordinate system is point ,point The midpoint of the connecting line segment; the Z-axis is parallel to the direction of the translation sub-axis, with upward being the positive direction; the positive X-axis points from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. The revolute pair in the planar sub-parallel mechanism Rotating pair three Rotating pair seven and rotating pair eight The axes of all four revolute joints are in the X direction; The sub-chain consists of four rotating joints. Rotating pair five The components are connected in series and their axes are parallel to each other; the three revolute joints are connected in series. Axis, Rotary joint 8 The axes are all with the four revolute joints The axis is perpendicular, and the revolute joint is three With rotating pair eight After parallel connection with the four rotating pairs Series connection; the four revolute joints The axis is parallel to the YOZ plane; the four revolute joints Axis, Revolute Joint 5 Axis and Revolute The axes are parallel; the five revolute joints Connect to platform 1.

[0018] Revolute joint 9 in constrained branch II The axis is in the X direction, and the revolute joint is 10. Axis and Revolute Pair 9 The direction is perpendicular to and parallel to the YOZ plane; the revolute joint nine Axis and Revolute The axes intersect at one point; the revolute joint Connect to platform 1.

[0019] In some examples, translational pair 1 Translation of the second sub-axis and translation of the third sub-section When used as a driving pair, the moving platform 1 can move along the axis of the translational pair and around the rotational pair. Axis and revolute joint Output motion of two-dimensional rotation of the axis; Meanwhile, the rotating joint nineR 32 Axis and revolute joint R 33 The axes intersect at one point to form a U-shaped joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

[0020] The parallel ankle rehabilitation robot with translational movement and rotational movement has a sub-kinematic chain, SKC1(1,-1), and therefore, the coupling degree of the parallel ankle rehabilitation robot with translational movement and rotational movement is 1.

[0021] This embodiment of the parallel ankle joint rehabilitation mechanism with one translational and two rotational joints has a hybrid branch I and a constrained branch II, forming a two-loop kinematic chain containing only translational and rotational joints, thus achieving the advantages of high stiffness and good precision. The ankle joint rehabilitation mechanism of this invention has a simple structure, is easy to install and maintain, and has a symmetrical structure, which allows for easy processing and control. At the same time, the ankle joint rehabilitation robot of this invention has no ball joints, and the moving platform 1 is connected to the branch through a rotational joint, which has the characteristics of simple structure and large range of motion, and has strong adaptability to people of different heights. Therefore, this invention is of great significance for the further promotion of ankle joint rehabilitation robots.

[0022] Example 2 like Figure 2 As shown, a parallel ankle joint rehabilitation robot with one translation and two rotations is characterized by comprising a static platform 0, a hybrid branch I, a constrained branch II, and a moving platform 1. The hybrid branch I is composed of a planar sub-parallel mechanism and a series of sub-chains; the planar sub-parallel mechanism includes a branch chain I and a branch chain II connected in parallel; the branch chain I consists of a series of rotating pairs I. Rotating pair 2 Rotating pair three Composition; the second branch chain consists of six rotating joints connected in series. Rotating pair seven Rotating auxiliary eight constitute; The constrained branch II is composed of translational joint III. Rotate the auxiliary nine Rotating pair ten The translational pair is composed of three parts connected in series. The axis is set in the Z direction on the static platform 0; Define a revolute joint Geometric center point along translational sub-three The projection point of the axis direction onto the upper surface of the static platform 0 is: Rotating pair six Geometric center point along translational sub-three The projection point of the axis direction onto the upper surface of the static platform 0 is: Translation of the third sub-axis The intersection of the axis and the upper surface of the static platform 0 The origin O of the coordinate system is point O. and points The midpoint of the connecting line segment; the Z-axis is parallel to the direction of the three axes of the translation sub-axis, with upward being the positive direction; the positive X-axis direction is from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. The static platform 0 is equipped with a fixed support; the rotating pair of the planar sub-parallel mechanism is... Mounted on a fixed bracket, rotating pair one Rotating pair 2 and rotating joint three The axes of all the rotating joints are in the X direction; the six rotating joints Set on a fixed bracket, rotating joint six Rotating pair seven and rotating pair eight All axes are in the X direction; The sub-chain consists of four rotating joints. Rotating pair five They are connected in series and their axes are parallel to each other; the revolute joint is one Axis, Revolute Joint Six The axes are all with the four revolute joints The axis is perpendicular, and the revolute joint is three With rotating pair eight After parallel connection with the four rotating pairs Series connection; the four revolute joints The axis is parallel to the YOZ plane; the four revolute joints Axis, Revolute Joint 5 Axis and Revolute The axes are parallel; the five revolute joints Connect to moving platform 1; Revolute joint 9 in constrained branch II The axis is in the X direction, and the revolute joint is 10. Axis and Revolute Pair 9 The direction is perpendicular to and parallel to the YOZ plane; the revolute joint nine Axis and Revolute The axes intersect at one point; the revolute joint Connect to platform 1.

[0023] In some examples, the revolute joint is one Rotating pair six and translation of the third sub-section When used as a driving pair, the moving platform 1 can move along the axis of the translational pair and around the rotational pair. Axis and revolute joint Output motion of two-dimensional rotation of the axis; Meanwhile, the rotating joint nine (R) 32 ) axis and revolute joint (R 33 The axes intersect at one point to form a U-shaped joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

[0024] The parallel ankle rehabilitation robot with translational movement and rotational movement has a sub-kinematic chain, SKC1(1,-1), therefore, the coupling degree of the parallel ankle rehabilitation robot with translational movement and rotational movement is 1. This embodiment of the parallel ankle joint rehabilitation mechanism with one translational and two rotational joints has a hybrid branch I and a constrained branch II, forming a two-loop kinematic chain containing only translational and rotational joints, thus achieving the advantages of high stiffness and good precision. The ankle joint rehabilitation mechanism of this invention has a simple structure, is easy to install and maintain, and has a symmetrical structure, which allows for easy processing and control. At the same time, the ankle joint rehabilitation robot of this invention has no ball joints, and the moving platform 1 is connected to the branch through a rotational joint, which has the characteristics of simple structure and large range of motion, and has strong adaptability to people of different heights. Therefore, this invention is of great significance for the further promotion of ankle joint rehabilitation robots.

[0025] Compared to Example 1, the parallel ankle rehabilitation robot with one translation and two rotations in this example has the advantages of compact structure and fast operation speed. However, the rotational drive makes its load-bearing capacity less than that of the parallel ankle rehabilitation robot with translational drive in Example 1.

Claims

1. A parallel ankle joint rehabilitation robot with one translational and two rotational components, characterized in that: It includes a static platform (0), a hybrid branch 1 (Ⅰ), a constrained branch 2 (Ⅱ), and a dynamic platform (1); The hybrid branch I (Ⅰ) is composed of a planar sub-parallel mechanism and a series of sub-chains; the planar sub-parallel mechanism includes a branch chain I and a branch chain II connected in parallel; the branch chain I consists of a translation pair I connected in series (Ⅰ). ), Rotary joint two ( ), rotating pair three ( The second branch chain consists of two sequentially connected translation joints ( ). ), Rotating pair seven ( ), rotating pair eight ( )constitute; The constrained branch 2 (II) is composed of translational sub-branch 3 ( ), rotating the secondary nine ( ), rotating pair ( ) are connected in series; The translation pair one ( Translation pair 2 () ) and the transfer of deputy three ( The three translational sub-axises are parallel and are all set vertically on the static platform (0); Define translation pair 1 ( The intersection point of the axis and the upper surface of the static platform (0) is Translation of the second sub-sub ( The intersection point of the axis and the upper surface of the static platform (0) is Translation of the third sub-sub ... The intersection of the axis and the upper surface of the static platform (0) is The origin O of the coordinate system is point ,point The midpoint of the connecting line segment; the Z-axis is parallel to the direction of the translation sub-axis, with upward being the positive direction; the positive X-axis points from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. The rotating pair in the planar sub-parallel mechanism ( ), rotating pair three ( ), Rotating pair seven ( ) and rotating pair eight ( The axes of all four revolute joints are in the X direction; The subchain consists of four revolute joints ( ), Rotary joint five ( The three rotating joints are connected in series and their axes are parallel to each other. ) axis, revolute joint eight ( The axes are all aligned with the four rotating joints. The axis is perpendicular, and the revolute joint is three ( ) and rotating pair eight ( After being connected in parallel with the revolute joint four ( ) in series; the four rotating joints ( The axis is parallel to the YOZ plane; the four revolute joints ( ) axis, revolute joint five ( ) axis and revolute joint ( The axes are parallel; the five revolute joints are... ) is connected to the moving platform (1); The revolute joint nine in the constrained branch two (II) The axis is in the X direction, and the revolute joint is ( ). ) axis and revolute joint nine ( The direction is perpendicular to and parallel to the YOZ plane; the revolute joint nine ( ) axis and revolute joint ( The axes intersect at one point; the revolute joint ( ) is connected to the moving platform (1).

2. The working method of the parallel ankle joint rehabilitation robot with one translation and two rotations according to claim 1, characterized in that: The translation pair 1 (P) 11 ), translational pair 2 (P) 21 ) and translation sub-three (P 31 When the moving platform (1) is the driving pair, it can move along the Z-axis and around the revolute joint (R). 32 ) axis and revolute joint (R) 33 The two-dimensional rotation of the axis outputs motion; Meanwhile, the rotating joint nine (R) 32 ) axis and revolute joint (R 33 The axes intersect at one point to form a U-shaped joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

3. A parallel ankle joint rehabilitation robot with one translational and two rotational components, characterized in that: It includes a static platform (0), a hybrid branch 1 (Ⅰ), a constrained branch 2 (Ⅱ), and a dynamic platform (1); The hybrid branch I (Ⅰ) is composed of a planar sub-parallel mechanism and a series of sub-chains; the planar sub-parallel mechanism includes a branch chain I and a branch chain II connected in parallel; the branch chain I consists of a rotating pair I connected in series (Ⅰ). ), Rotary joint two ( ), rotating pair three ( The second branch chain consists of six rotating joints connected in series. ), Rotating pair seven ( ), rotating pair eight ( )constitute; The constrained branch 2 (II) is composed of translational sub-branch 3 ( ), rotating the secondary nine ( ), rotating pair ( ) are connected in series; the translational pair three ( It is vertically set on the static platform (0); Define a revolute joint ( The geometric center point is along the translational sub-point ( The projection point of the axis direction onto the upper surface of the static platform (0) is: Rotating pair six ( The geometric center point is along the translational sub-point ( The projection point of the axis direction onto the upper surface of the static platform (0) is: Translation of the third sub-sub ... The intersection of the axis and the upper surface of the static platform (0) The origin O of the coordinate system is point O. and points The midpoint of the connecting line segment; the Z-axis is parallel to the three axes of the translation joint, and upward is the positive direction; the positive X-axis points from the origin O to point... The direction of the Y-axis is determined by the right-hand rule. The static platform (0) is provided with a fixed support; the rotating pair of the planar sub-parallel mechanism is one ( ) is set on a fixed bracket, rotating pair one ( ), Rotary joint two ( ) and rotating joint three ( The axes of all six revolute joints are in the X direction; ) is set on a fixed bracket, rotating the sixth ( ), Rotating pair seven ( ) and rotating pair eight ( The axes of all are in the X direction; The subchain consists of four revolute joints ( ), Rotary joint five ( The components are connected in series, with their axes parallel to each other; the first revolute joint ( ) axis, revolute joint six ( The axes are all aligned with the four rotating joints. The axis is perpendicular, and the revolute joint is three ( ) and rotating pair eight ( After being connected in parallel with the revolute joint four ( ) in series; the four rotating joints ( The axis is parallel to the YOZ plane; the four revolute joints ( ) axis, revolute joint five ( ) axis and revolute joint ( The axes are parallel; the five revolute joints are... ) is connected to the moving platform (1); The revolute joint nine in the constrained branch two (II) The axis is in the X direction, and the revolute joint is ( ). ) axis and revolute joint nine ( The direction is perpendicular to and parallel to the YOZ plane; the revolute joint nine ( ) axis and revolute joint ( The axes intersect at one point; the revolute joint ( ) is connected to the moving platform (1).

4. The working method of the parallel ankle joint rehabilitation robot with one translation and two rotations according to claim 3, characterized in that: The rotating pair one (R) 11 ), Rotary joint six (R) 21 ) and translation sub-three (P 31 When the moving platform (1) is the driving pair, it can move along the Z-axis and around the revolute joint (R). 32 The axis of the revolute joint (R) 33 The two-dimensional rotation of the axis outputs motion; Meanwhile, the rotating joint nine (R) 32 ) axis and revolute joint (R 33 The axes intersect at one point to form a U-shaped joint; the intersection point is also the rotation center of the mechanism. By aligning the rotation center of the mechanism with the center of the ankle joint, secondary injuries caused by movement during rehabilitation can be avoided.

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