This paper presents the development of a wearable ankle rehabilitation robot based on a 3-RRR spherical parallel mechanism (SPM) to support multi-DOF recovery through pitch, roll, and yaw motions. The system features a compact, ergonomic structure designed for comfort, safety, and compatibility with ankle biomechanics. A complete design-to-dynamics pipeline has been implemented, including structural design, kinematic modeling for motion planning, and Lagrangian-based dynamic modeling for torque estimation and simulation analysis. Preliminary simulations verify stable joint coordination and smooth motion tracking under representative rehabilitation trajectories. The control framework is currently being developed to enhance responsiveness across the workspace. Future work will focus on integrating personalized modeling and adaptive strategies to address kinematic singularities through model based control. This work establishes a foundational platform for intelligent, personalized ankle rehabilitation, enabling both static training and potential extension to gait-phase-timed assistance.
@article{arxiv.2505.13762,
title = {From Structural Design to Dynamics Modeling: Control-Oriented Development of a 3-RRR Parallel Ankle Rehabilitation Robot},
author = {Siyuan Zhang and Yufei Zhang and Junlin Lyu and Sunil K. Agrawal},
journal= {arXiv preprint arXiv:2505.13762},
year = {2025}
}
Comments
This paper was originally submitted as a class project and included the name of a faculty member without prior permission. At the instructor's request, I am withdrawing the paper. The work may be resubmitted in the future after further development and testing