Abstract
[This retracts the article DOI: 10.1155/2019/4164790.].
Highlights
E article titled “Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)” [1] has been retracted at the request of the authors after they found errors in the kinematic analysis of the PARR
The universal joints U1 and U2 were composed of two rotational joints distributed vertically, and the distance between the centers of the rotational joints should not have been neglected. ese simplifications lead to incorrect results of the theoretical workspace
If the simplification is corrected, this provides more accurate results though the error is less than 10%
Summary
E article titled “Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR)” [1] has been retracted at the request of the authors after they found errors in the kinematic analysis of the PARR. E spherical joints S1 and S2 were composed of three rotational joints, and the three centers of the rotational joints did not coincide at one point.
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