Teaching and playback control system for parallel robot for ankle joint rehabilitation

The designed and experimental process of the teaching and playback control system of parallel robot for ankle joint rehabilitation is narrated. Teaching-box was fulfilled with single chip MCU system. The teaching and playback progress was executed as three modes, including point by point mode, continuous mode and mixed mode. During the teaching and playback progress, the max torque of the motor could be changed. With the control of three torque motor, the playback of parallel robot for ankle joint rehabilitation could be realized.