Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation

Wang Liangwen; Li Quntao; Wang Xinjie; Mu Xiaoqi; Xie Guizhong; Du Wenliao

doi:10.16578/j.issn.1004.2539.2016.03.023

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Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation

更新时间：2022-10-20

- Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation
- Vol. 40, Issue 3, Pages: 102-106(2016)
- 作者机构：
  
  1. 郑州轻工业学院机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2016.03.023
  CLC：
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[1]王良文,李群涛,王新杰,穆小奇,谢贵重,杜文辽.仿生踝关节辅助康复装置的运动建模分析[J].机械传动,2016,40(03):102-106.

Wang Liangwen, Li Quntao, Wang Xinjie, et al. Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation. [J]. 40(3):102-106(2016)
[1]王良文,李群涛,王新杰,穆小奇,谢贵重,杜文辽.仿生踝关节辅助康复装置的运动建模分析[J].机械传动,2016,40(03):102-106. DOI： 10.16578/j.issn.1004.2539.2016.03.023.

Wang Liangwen, Li Quntao, Wang Xinjie, et al. Analysis and Motion Modeling of Bionic Auxiliary Device for Ankle Rehabilitation. [J]. 40(3):102-106(2016) DOI： 10.16578/j.issn.1004.2539.2016.03.023.

摘要

为实现踝关节辅助康复,开发了一种基于球销副的仿生踝关节辅助康复装置,该装置具有两个自由度,但能近似实现踝关节的三维运动。在介绍仿生踝关节辅助康复装置结构的基础上,对其进行了运动建模分析。针对结构采用的多种运动驱动模式,对刚柔组合驱动与刚性驱动模式分别进行建模分析,给出了相关计算公式,并采用Matlab软件进行了计算。研究过程为多运动模式的机构分析提供了参考。

Abstract

In order to realize the ankle recovery,a kind of auxiliary device for ankle rehabilitation based on a ball pin vice is developed. The device has two degrees of freedom,while three- dimensional movement of the ankle can be achieved approximately. Based on introducing the structure of the auxiliary device for ankle rehabilitation,the motion modeling and analysis of the device are performed. Aiming at multiple kind of drive patterns of the structure,the modeling analysis of rigid- soft combination drive and rigid drive pattern are conducted respectively. The related calculation formulas are deduced and calculated by Matlab. A process of this research can be as a reference for mechanism analysis of more motion models.

关键词

踝关节仿生辅助康复装置运动建模

Keywords

AnkleBionicAuxiliary rehabilitation deviceMovement modeling

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