LATHAM N K , JETTE D U , WARREN R L , et al . Pattern of functional change during rehabilitation of patients with hip fracture [J ] . Archives of Physical Medicine & Rehabilitation , 2006 , 87 ( 1 ): 111 - 116 .

ZENG X F , ZHU G L , ZHANG M M , et al . Reviewing clinical effectiveness of active training strategies of platform-based ankle rehabilitation robots [J ] . Journal of Healthcare Engineering , 2018 , 2018 : 2858294 .

ZHANG M M , ZHU G L , NANDAKUMAR A , et al . A virtual-reality tracking game for use in robot-assisted ankle rehabilitation [C ] // Proceedings of the 2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications.Senigallia, Italy:IEEE , 2014 : 1 - 4 .

KHALID Y M , GOUWANDA D , PARASURAMAN S . A review on the mechanical design elements of ankle rehabilitation robot [J ] . Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine , 2015 , 229 ( 6 ): 452 - 463 . DOI: 10.1177/0954411915585597 http://doi.org/10.1177/0954411915585597 http://journals.sagepub.com/doi/10.1177/0954411915585597 http://journals.sagepub.com/doi/10.1177/0954411915585597 Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.

LI J F , ZHANG Z Q , TAO C J , et al . A number synthesis method of the self-adapting upper-limb rehabilitation exoskeletons [J ] . International Journal of Advanced Robotic Systems , 2017 , 14 ( 3 ): 1 - 14 .

KAMMEN K V , BOONSTRA A M , VAN DER WOUDE L H V , et al . The combined effects of guidance force, bodyweight support and gait speed on muscle activity during able-bodied walking in the Lokomat [J ] . Clinical Biomechanics , 2016 , 36 : 65 - 73 . DOI: 10.1016/j.clinbiomech.2016.04.013 http://doi.org/10.1016/j.clinbiomech.2016.04.013 https://linkinghub.elsevier.com/retrieve/pii/S0268003316300523 https://linkinghub.elsevier.com/retrieve/pii/S0268003316300523

MAYR A , QUIRBACH E , PICELLI A , et al . Early robot-assisted gait retraining in non-ambulatory patients with stroke: a single blind randomized controlled trial [J ] . European Journal of Physical and Rehabilitation Medicine , 2018 , 54 ( 6 ): 819 - 826 . DOI: 10.23736/S1973-9087.18.04832-3 http://doi.org/10.23736/S1973-9087.18.04832-3 Restoration of walking function is a primary concern of neurorehabilitation with respect to the aspired social and vocational reintegration. To date, the best practice for improving gait early after stroke is still object of debate. On one hand, repetitive task-specific approaches with higher intensities of walking have been observed to result in greater improvements of gait after stroke. Conversely there is some evidence that conventional gait training would be more effective for facilitating walking ability after stroke.To compare the effects of an early treatment protocol of add-on robot-assisted gait training with add-on conventional overground physiotherapy for improving locomotion in non-ambulatory adult stroke patients.Single-blind randomized controlled trial.Neurorehabilitation hospital.Seventy-four subacute patients with first-ever ischemic stroke.The patients were randomized into two groups. The training program consisted of forty, 2-hour sessions (including 45 minutes basic training, 45 minutes add-on training plus rest periods), 5 days a week, for 8 consecutive weeks. Patients allocated to the add-on robot-assisted gait training were treated by means of the Lokomat. Patients allocated to the add-on conventional overground gait training aimed at improving postural control during gait, body weight transfer, stability during the stance phase, free swing phase, adequate heel contact and gait pattern. Primary outcome was the modified Emory Functional Ambulation Profile. Secondary outcomes were the Rivermead Motor Index, the Mobility Milestones and the Hochzirl Walking Aids Profile.No significant difference was observed between groups with regards to age (P=0.661), time from stroke onset (P=0.413) and the primary outcome (P=0.854) at baseline evaluation. As to the primary outcome, no significant differences were found between groups at the end of the study. As During the 8-week training, within-group comparisons showed significant improvements of mean modified Emory Functional Ambulation Profile in both groups (P<0.001).Our results support the hypothesis that an early treatment protocol of robot-assisted gait retraining is not superior to add-on conventional gait training intervention for improving locomotion in non-ambulatory stroke patients.This study might help to better understand the role of robot-assisted gait training in early phase stroke rehabilitation.

YANO H , TAMEFUSA S , TANAKA N , et al . Gait rehabilitation system for stair climbing and descending [C ] // Proceedings of IEEE Haptics Symposium 2010. Piscataway,MA , US : IEEE , 2010 : 393 - 400 .

赵磊 , 闫照方 , 栾倩倩 , 等 . 大空间运动3-RRRU并联机器人运动学标定与误差分析 [J ] . 农业机械学报 , 2021 , 52 ( 11 ): 411 - 420 .

ZHAO L , YAN Z F , LUAN Q Q , et al . Kinematic calibration and error analysis of 3-RRRU parallel robot in large overall motion [J ] . Transactions of the Chinese Society for Agricultural Machinery , 2021 , 52 ( 11 ): 411 - 420 . (in Chinese)

HUSSAIN S , JAMWAL P K , GHAYESH M H . State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review [J ] . Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine , 2017 , 231 ( 12 ): 1224 - 1234 . DOI: 10.1177/0954411917737584 http://doi.org/10.1177/0954411917737584 http://journals.sagepub.com/doi/10.1177/0954411917737584 http://journals.sagepub.com/doi/10.1177/0954411917737584 There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

MIAO Q , ZHANG M M , WANG C Z , et al . Towards optimal platform-based robot design for ankle rehabilitation: the state of the art and future prospects [J ] . Journal of Healthcare Engineering , 2018 : 1534247 .

ALVAREZ-PEREZ M G , GARCIA-MURILLO M A , CERVANTES-SÁNCHEZ J J . Robot-assisted ankle rehabilitation: a review, disability and rehabilitation [J ] . Assist Technology , 2020 , 15 ( 4 ): 394 - 408 .

RAKHODAEI H , SAADAT M , RASTEGARPANAH A , et al . Path planning of the hybrid parallel robot for ankle rehabilitation [J ] . Robotica , 2016 , 34 : 173 - 184 . DOI: 10.1017/S0263574714001210 http://doi.org/10.1017/S0263574714001210 https://www.cambridge.org/core/product/identifier/S0263574714001210/type/journal_article https://www.cambridge.org/core/product/identifier/S0263574714001210/type/journal_article This paper presents a new configuration for ankle rehabilitation using a 9-DOF (degree of freedom) hybrid parallel robot. The robot contains nine linear actuators serially connecting two movable platforms and one stationary platform. The optimization is based on the singularity and dynamic analysis of the robot. The obtained data of the ankle motions from a series of experiments were applied to the model in order to investigate the motion of the end-effector and the force required for each actuator in a particular path. The end-effector tracking simulation results validated the proposed theoretical analysis of the required rehabilitation path of the foot.

RASTEGARPANAH A , RAKHODAEI H , SAADAT M , et al . Path-planning of a hybrid parallel robot using stiffness and workspace for foot rehabilitation [J ] . Advanced Mechanical Engineering , 2018 , 10 : 1 - 10 .

NURAHMI L , CARO S , SOLICHIN M . A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator [J ] . Mechanism and Machine Theory , 2019 , 134 : 135 - 150 . DOI: 10.1016/j.mechmachtheory.2018.12.017 http://doi.org/10.1016/j.mechmachtheory.2018.12.017 https://linkinghub.elsevier.com/retrieve/pii/S0094114X18315246 https://linkinghub.elsevier.com/retrieve/pii/S0094114X18315246

AI Q S , ZHU C X , JIE Z , et al . Disturbance-estimated adaptive backstepping sliding mode control of a pneumatic muscles-driven ankle rehabilitation robot [J ] . Sensors , 2017 , 18 ( 1 ): 66 . DOI: 10.3390/s18010066 http://doi.org/10.3390/s18010066 http://www.mdpi.com/1424-8220/18/1/66 http://www.mdpi.com/1424-8220/18/1/66

王海芳 , 陈晓波 , 张瑶 , 等 . 3-SPS/S踝关节并联式康复机器人设计 [J ] . 中国工程机械学报 , 2020 , 18 ( 3 ): 237 - 241 ,247.

WANG H F , CHEN X B , ZHANG Y , et al . Design of 3-SPS/S ankle joint parallel rehabilitation robot [J ] . Chinese Journal of Construction Machinery , 2020 , 18 ( 3 ): 237 - 241 ,247. (in Chinese)

张彦斌 , 荆献领 , 韩建海 , 等 . 新型RR-RURU踝关节康复机器人机构的设计与分析 [J ] . 中国机械工程 , 2019 , 30 ( 14 ): 1734 - 1741 . 基于无耦合RR-RURU转动并联机构设计出一种新型踝关节康复机器人。利用螺旋理论对机构进行了运动输出特性分析和自由度计算；推导出机构动平台的姿态方程和角速度方程，讨论了机构满足运动学完全各向同性的结构条件；根据机构分支运动链的运动螺旋系的线性相关性，分析了机构的运动学奇异性并给出其奇异位形；研究了机构的工作空间，得到其可达工作空间的三维图形。绘制出新型踝关节康复机器人的CAD模型，利用临床医学步态分析数据（CGA）得到其输出角位移曲线，并对其动力学进行了虚拟样机仿真。研究结果为该新型踝关节康复机器人的样机试制提供了理论基础。

ZHANG Y B , JING X L , HAN J H , et al . Design and analysis of a novel RR-RURU ankle rehabilitation robot mechanism [J ] . China Mechanical Engineering , 2019 , 30 ( 14 ): 1734 - 1741 . (in Chinese) A novel ankle rehabilitation robot was designed based on the uncoupled RR-RURU rotational parallel mechanism.The kinematic output characteristics mechanism was analyzed and the degree of freedom was calculated in terms of the screw theory.Mathematical models of the posture and the angular velocity of the platform were established.Structural conditions of the fully-isotropic performance for the mechanisms were discussed in detail.Singularity was analyzed based on the linear dependence of the kinematic screw system of the first limb and the singular configurations were given as well.Workspace was investigated and the three-dimensional graphic was also described.Finally, CAD model of the novel ankle rehabilitation robot were given.The output angular displacement curves of the robot were obtained by means of the clinical gait analysis data (CGA).In addition, the dynamics of the ankle rehabilitation robot was simulated by using the virtual prototype.The results provide the theoretical basis to develop the physical prototype of the ankle rehabilitation robots.

MA R , SLOCUM A , SUNG E , et al . Ankle rehabilitation via compliant mechanisms [J ] . Journal of Medical Devices , 2010 , 4 ( 2 ): 027528 .

李庠 , 李瑞琴 , 李辉 , 等 . 可重构单驱动3-RRR平面并联机构连杆曲线与姿态的数值解法 [J ] . 兵工学报 , 2021 , 42 ( 5 ): 1074 - 1082 . DOI: 10.3969/j.issn.1000-1093.2021.05.020 http://doi.org/10.3969/j.issn.1000-1093.2021.05.020 针对3自由度3-RRR平面并联机构驱动与控制复杂、能耗大的问题，利用平行四边形运动链将其约束为单驱动3-RRR平面并联机构。通过数值解法计算单驱动3-RRR平面并联机构的连杆曲线与姿态，并分析重构对连杆曲线与姿态的影响。基于Freudenstein方程推导该机构的输入- 输出方程；采用迭代算法建立方程的数值求解方法；通过改变机构的初始输入角，提出一种机构构型的可重构方法。给出一组机构参数作为数值算例，求解得到机构的两种构型，称为构型Ⅰ和构型Ⅱ，以构型Ⅰ为算例，计算得到构型Ⅰ重构前后的连杆曲线与姿态随输入角变化的规律。结果表明：理论曲线与仿真曲线相吻合，验证了求解方法的正确性；重构能够显著改变构型Ⅰ连杆曲线与姿态。

LI X , LI R Q , LI H , et al . A numerical solution of coupler curve and orientation for reconfigurable single-driven 3-RRR planar parallel mechanism [J ] . Acta Armamentarii , 2021 , 42 ( 5 ): 1074 - 1082 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.05.020 http://doi.org/10.3969/j.issn.1000-1093.2021.05.020 For complex driving and control and high energy consumption of 3-DOF 3-RRR planar parallel mechanism，the parallelogram kinematic chain is used to constrain the mechanism to a single-driven 3-RRR planar parallel mechanism. The coupler curve and orientation of the single-driven 3-RRR planar parallel mechanism are calculated using numerical method. The influence of reconfiguration on the coupler curve and orientation are analyzed. The input-output (IO) equation of the mechanism is derived based on Freudenstein equation. The numerical solution method of the equation is established using iterative algorithm. By changing the initial input angle of the mechanism，a reconfigurable method of mechanism configuration is proposed. A set of mechanism parameters was given as numerical example, and two kinds of configurations of the mechanism，which are called configuration I and configuration II，were obtained. The variations of coupler curve and orientation with the input angle for configuration I and reconfigured configuration I were obtained. Results show that the theoretical curves are consistent with the simulated curves, and the solution method is correct. The reconfiguration can significantly change the coupler curve and orientation of configuration I.

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KHALID Y M , GOUWANDA D , PARASURAMAN S . A review on the mechanical design elements of ankle rehabilitation robot [J ] . Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine , 2015 , 229 ( 6 ): 452 - 463 . DOI: 10.1177/0954411915585597 http://doi.org/10.1177/0954411915585597 http://journals.sagepub.com/doi/10.1177/0954411915585597 http://journals.sagepub.com/doi/10.1177/0954411915585597 Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.