@inproceedings{ae7bcf91717c403f93727cb1f24edc6d,
title = "Design and kinematic analysis of a novel metamorphic mechanism for lower limb rehabilitation",
abstract = "This paper proposes a novel metamorphic parallel mechanism that can be applied to lower limb rehabilitation. It has two configurations which are 3-UPS/S and 2-RPS/UPS/S respectively by taking into account the human hip joint. The proposed two configurations can be transformed to each other in order to satisfy different demands of patients at different phases of rehabilitation therapy. The characteristics of the mechanism in different configurations are analyzed including the degree of freedom and the inverse kinematics problem. The numerical examples of different rehabilitation exercises are worked out to illustrate the advantages of the metamorphic mechanism.",
keywords = "Kinematic analysis, Lower limb rehabilitation, Metamorphic mechanisms, Parallel mechanisms, Screw theory",
author = "Wuxiang Zhang and Shaodan Zhang and Marco Ceccarelli and Di Shi",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.",
year = "2016",
doi = "10.1007/978-3-319-23327-7\_47",
language = "英语",
isbn = "9783319233260",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "545--558",
editor = "Xilun Ding and Xianwen Kong and Dai, \{Jian S.\} and Dai, \{Jian S.\}",
booktitle = "Mechanisms and Machine Science",
}