{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T12:16:25Z","timestamp":1763468185930},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2014,5,27]],"date-time":"2014-05-27T00:00:00Z","timestamp":1401148800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2016,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>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.<\/jats:p>","DOI":"10.1017\/s0263574714001210","type":"journal-article","created":{"date-parts":[[2014,5,27]],"date-time":"2014-05-27T10:01:14Z","timestamp":1401184874000},"page":"173-184","source":"Crossref","is-referenced-by-count":23,"title":["Path planning of the hybrid parallel robot for ankle rehabilitation"],"prefix":"10.1017","volume":"34","author":[{"given":"Hamid","family":"Rakhodaei","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mozafar","family":"Saadat","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alireza","family":"Rastegarpanah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Che Zulkhairi","family":"Abdullah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,5,27]]},"reference":[{"key":"S0263574714001210_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861481"},{"key":"S0263574714001210_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0317167100005308"},{"key":"S0263574714001210_ref16","first-page":"27","volume-title":"Proceedings of the 2nd International Workshop on Virtual Rehabilitation (IWVR 2004)","author":"Boian","year":"2004"},{"key":"S0263574714001210_ref12","first-page":"1","volume-title":"Proceedings of the 13th World Congress in Mechanism and Machine Science","author":"Sui","year":"2011"},{"key":"S0263574714001210_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(99)00073-7"},{"key":"S0263574714001210_ref23","unstructured":"Vicon Nexus, Available at: http:\/\/www.vicon.com\/products\/nexus.html; accessed on Oct. 10, 2013."},{"key":"S0263574714001210_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006190"},{"key":"S0263574714001210_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/1077546311429841"},{"key":"S0263574714001210_ref3","first-page":"744","volume-title":"Proceedings of the IEEE International Conference on Digital Manufacturing and Automation","author":"Wu","year":"2010"},{"key":"S0263574714001210_ref2","first-page":"2530","volume-title":"Proceedings of the International Conference on Mechatronics and Automation (ICMA)","author":"Wang","year":"2007"},{"key":"S0263574714001210_ref9","volume-title":"The National Service Framework for Long-Term Conditions","year":"2008"},{"key":"S0263574714001210_ref27","first-page":"66","article-title":"The 60th European study group with industry report on the Stewart platform problem","volume":"1","author":"Charters","year":"2009","journal-title":"Math. Ind. Case Stud."},{"key":"S0263574714001210_ref20","first-page":"3671","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Berenson","year":"2012"},{"key":"S0263574714001210_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.12.001"},{"key":"S0263574714001210_ref15","doi-asserted-by":"publisher","DOI":"10.1002\/oti.220"},{"key":"S0263574714001210_ref19","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000016866.80026.d7"},{"key":"S0263574714001210_ref11","first-page":"1451","volume-title":"Proceeding of the 6th International Conference on Intelligent Robots and Systems","author":"Homma","year":"2004"},{"key":"S0263574714001210_ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.mehy.2012.05.028"},{"key":"S0263574714001210_ref22","first-page":"256","volume-title":"Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics","author":"Satici","year":"2009"},{"key":"S0263574714001210_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.988974"},{"key":"S0263574714001210_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.10.001"},{"key":"S0263574714001210_ref26","first-page":"728","volume-title":"Proceedings of the 4th International Conference on Recent Advances in Space Technologies (RAST'09)","author":"Vatandas","year":"2009"},{"key":"S0263574714001210_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2005.03.002"},{"key":"S0263574714001210_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2011.10.010"},{"key":"S0263574714001210_ref13","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-6-1"},{"key":"S0263574714001210_ref17","doi-asserted-by":"publisher","DOI":"10.1682\/JRRD.2005.02.0046"},{"key":"S0263574714001210_ref10","first-page":"11","article-title":"Lower-limb robotic rehabilitation: Literature review and challenges","volume":"2011","author":"D\u00edaz","year":"2011","journal-title":"J. Robot."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001210","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,19]],"date-time":"2019-04-19T19:22:03Z","timestamp":1555701723000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001210\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5,27]]},"references-count":27,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2016,1]]}},"alternative-id":["S0263574714001210"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001210","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,5,27]]}}}