Screw Theory to Design the Turmell-Bot
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  • Release Date: 2023-12-11
  • medical and rehabilitation robotics
  • biomechanics
  • parallel manipulator
  • cable-driven
  • kinematic analysis
  • robot design
  • mechanism synthesis
  • compliant mechanism
Video Introduction

This video is adapted from 10.3390/robotics12060154

The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. Researchers present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, researchers studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. Researchers proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, researchers synthesized a cable-driven robot with the human ankle in the closed-loop kinematics.

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Vargas-Riaño, J.; Agudelo-Varela, �.; Valera, �. Screw Theory to Design the Turmell-Bot. Encyclopedia. Available online: (accessed on 24 June 2024).
Vargas-Riaño J, Agudelo-Varela �, Valera �. Screw Theory to Design the Turmell-Bot. Encyclopedia. Available at: Accessed June 24, 2024.
Vargas-Riaño, Julio, Óscar Agudelo-Varela, Ángel Valera. "Screw Theory to Design the Turmell-Bot" Encyclopedia, (accessed June 24, 2024).
Vargas-Riaño, J., Agudelo-Varela, �., & Valera, �. (2023, December 11). Screw Theory to Design the Turmell-Bot. In Encyclopedia.
Vargas-Riaño, Julio, et al. "Screw Theory to Design the Turmell-Bot." Encyclopedia. Web. 11 December, 2023.
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