{"id":"https://openalex.org/W4404826956","doi":"https://doi.org/10.1017/s0263574724001462","title":"Analysis and optimization design of motion characteristics for a 3-<u>P</u>UU/<u>R</u> parallel ankle joint rehabilitation mechanism","display_name":"Analysis and optimization design of motion characteristics for a 3-<u>P</u>UU/<u>R</u> parallel ankle joint rehabilitation mechanism","publication_year":2024,"publication_date":"2024-10-01","ids":{"openalex":"https://openalex.org/W4404826956","doi":"https://doi.org/10.1017/s0263574724001462"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001462","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001462","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6705804AF1420F0467975E63CF54BBDA/S0263574724001462a.pdf/div-class-title-analysis-and-optimization-design-of-motion-characteristics-for-a-3-span-class-underline-p-span-uu-span-class-underline-r-span-parallel-ankle-joint-rehabilitation-mechanism-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6705804AF1420F0467975E63CF54BBDA/S0263574724001462a.pdf/div-class-title-analysis-and-optimization-design-of-motion-characteristics-for-a-3-span-class-underline-p-span-uu-span-class-underline-r-span-parallel-ankle-joint-rehabilitation-mechanism-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053211964","display_name":"Xuechan Chen","orcid":"https://orcid.org/0000-0002-4717-9509"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechan Chen","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0002-4717-9509","affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090480309","display_name":"Jianxin Liu","orcid":"https://orcid.org/0000-0003-2428-6317"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxin Liu","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102169417","display_name":"Jin Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin an Dong","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0002-5176-724X","affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087993639","display_name":"Zhouhao Zhang","orcid":"https://orcid.org/0009-0007-7462-7331"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhao Zhang","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022298834","display_name":"Yu Guo","orcid":"https://orcid.org/0000-0003-0294-1384"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Guo","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100631914","display_name":"Bo Xiao","orcid":"https://orcid.org/0000-0001-5862-974X"},"institutions":[{"id":"https://openalex.org/I4210164246","display_name":"First Hospital of Qinhuangdao","ror":"https://ror.org/05pmkqv04","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210164246"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Xiao","raw_affiliation_strings":["First Hospital of Qinhuangdao, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"First Hospital of Qinhuangdao, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I4210164246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082900330","display_name":"Ziming Chen","orcid":"https://orcid.org/0000-0001-5008-3498"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziming Chen","raw_affiliation_strings":["Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5082900330"],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":null,"apc_paid":null,"fwci":0.84,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70903273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"42","issue":"10","first_page":"3450","last_page":"3479"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7171825170516968},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.667993426322937},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6585433483123779},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.4882231056690216},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48603636026382446},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.44331374764442444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41417255997657776},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28841838240623474},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.28770196437835693},{"id":"https://openalex.org/keywords/physical-therapy","display_name":"Physical therapy","score":0.2509024143218994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2218017280101776},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17278793454170227},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11535868048667908},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.0776624083518982}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7171825170516968},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.667993426322937},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6585433483123779},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.4882231056690216},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48603636026382446},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.44331374764442444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41417255997657776},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28841838240623474},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.28770196437835693},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","level":1,"score":0.2509024143218994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2218017280101776},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17278793454170227},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11535868048667908},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0776624083518982},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001462","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001462","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6705804AF1420F0467975E63CF54BBDA/S0263574724001462a.pdf/div-class-title-analysis-and-optimization-design-of-motion-characteristics-for-a-3-span-class-underline-p-span-uu-span-class-underline-r-span-parallel-ankle-joint-rehabilitation-mechanism-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574724001462","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724001462","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6705804AF1420F0467975E63CF54BBDA/S0263574724001462a.pdf/div-class-title-analysis-and-optimization-design-of-motion-characteristics-for-a-3-span-class-underline-p-span-uu-span-class-underline-r-span-parallel-ankle-joint-rehabilitation-mechanism-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5799999833106995}],"awards":[{"id":"https://openalex.org/G8002708474","display_name":null,"funder_award_id":"51775474","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404826956.pdf","grobid_xml":"https://content.openalex.org/works/W4404826956.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W56211914","https://openalex.org/W95526442","https://openalex.org/W1731761246","https://openalex.org/W1963606759","https://openalex.org/W1982404080","https://openalex.org/W1988388837","https://openalex.org/W1995068809","https://openalex.org/W1997794697","https://openalex.org/W2000523947","https://openalex.org/W2040164264","https://openalex.org/W2042677151","https://openalex.org/W2058553163","https://openalex.org/W2067603569","https://openalex.org/W2073154652","https://openalex.org/W2104591939","https://openalex.org/W2112253446","https://openalex.org/W2134179587","https://openalex.org/W2155529507","https://openalex.org/W2276585358","https://openalex.org/W2952177854","https://openalex.org/W3117817509","https://openalex.org/W3195598549","https://openalex.org/W4211057510","https://openalex.org/W4223439565","https://openalex.org/W4295992972","https://openalex.org/W4385309572","https://openalex.org/W4392517036","https://openalex.org/W4395050384","https://openalex.org/W4399682644","https://openalex.org/W4400467657","https://openalex.org/W6694848453","https://openalex.org/W6807817016","https://openalex.org/W6869415706","https://openalex.org/W7056387061"],"related_works":["https://openalex.org/W2382997850","https://openalex.org/W2056518890","https://openalex.org/W2390968135","https://openalex.org/W2356887275","https://openalex.org/W2966270549","https://openalex.org/W2158386141","https://openalex.org/W2131951563","https://openalex.org/W4245580097","https://openalex.org/W2382213751","https://openalex.org/W3029574114"],"abstract_inverted_index":{"Abstract":[0],"The":[1,84],"large":[2],"number":[3],"of":[4,26,31,40,89,101,110,119,152,161,179,204,220,236,243],"patients":[5],"with":[6,67,189],"ankle":[7,14,33,48,62,70,77,103,113,129,237],"injuries":[8],"and":[9,36,98,115,149,172,194,210,234],"the":[10,29,37,41,68,102,108,111,116,120,137,140,153,158,162,168,173,177,180,190,205,217,221,232,241],"high":[11],"incidence":[12],"make":[13],"rehabilitation":[15,34,50,63,131,239],"an":[16],"urgent":[17],"health":[18],"problem.":[19],"However,":[20],"there":[21],"is":[22,133,164,182],"a":[23,55,123,201,227],"certain":[24],"degree":[25],"difference":[27],"between":[28],"motion":[30,79,159],"most":[32],"robots":[35],"actual":[38],"axis":[39,245],"human":[42,69,112,186],"ankle.":[43],"To":[44],"achieve":[45],"more":[46],"precise":[47],"joint":[49,71,78,114,121,130,238],"training,":[51],"this":[52],"paper":[53],"proposes":[54],"novel":[56],"3-":[57,124],"P":[58,125],"UU/":[59,126],"R":[60,127],"parallel":[61,128],"mechanism":[64,85,132,154,163,181],"that":[65],"integrates":[66],"axis.":[72],"Moreover,":[73],"it":[74],"provides":[75,226],"comprehensive":[76],"necessary":[80],"for":[81,230],"effective":[82],"rehabilitation.":[83],"has":[86],"four":[87],"degrees":[88],"freedom":[90],"(DOFs),":[91],"enabling":[92],"plantarflexion/dorsiflexion,":[93],"eversion/inversion,":[94],"internal":[95],"rotation/external":[96],"rotation,":[97],"dorsal":[99],"extension":[100],"joint.":[104],"First,":[105],"based":[106,166],"on":[107,136,167],"DOFs":[109],"variation":[117],"pattern":[118],"axes,":[122],"designed.":[134],"Based":[135],"screw":[138],"theory,":[139],"inverse":[141],"kinematics":[142],"inverse,":[143],"complete":[144],"Jacobian":[145],"matrix,":[146],"singular":[147],"characteristics,":[148,188],"workspace":[150,195],"analysis":[151],"are":[155],"conducted.":[156],"Subsequently,":[157],"performance":[160,178,219],"analyzed":[165],"motion/force":[169,191],"transmission":[170,192],"indices":[171],"constraint":[174],"indices.":[175],"Then,":[176],"optimized":[183],"according":[184],"to":[185,215],"physiological":[187],"ratio":[193],"range":[196],"as":[197],"optimization":[198],"objectives.":[199],"Finally,":[200],"physical":[202],"prototype":[203],"proposed":[206,222],"robot":[207],"was":[208],"developed,":[209],"experimental":[211],"tests":[212],"were":[213],"performed":[214],"evaluate":[216],"above":[218],"robot.":[223],"This":[224],"study":[225],"good":[228],"prospect":[229],"improving":[231],"comfort":[233],"safety":[235],"from":[240],"perspective":[242],"human-machine":[244],"matching.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}