Structural Design and Training Planning for Ankle Rehabilitation Mechanisms

Li Jingjing; Han Chunyang; Xu Zhenbang

doi:10.16578/j.issn.1004.2539.2023.03.010

您当前的位置：

首页 >

文章列表页 >

Structural Design and Training Planning for Ankle Rehabilitation Mechanisms

Design· Calculation | 更新时间：2023-03-29

- Structural Design and Training Planning for Ankle Rehabilitation Mechanisms
- Journal of Mechanical Transmission Vol. 47, Issue 3, Pages: 71-77(2023)
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所，吉林长春 130033
  2.中国科学院大学，北京 100049
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.03.010
  CLC：
- Published：15 March 2023，
  
  Received：01 March 2022，
扫描看全文
李靖靖,韩春杨,徐振邦.踝关节康复机构的结构设计与训练规划[J].机械传动,2023,47(03):71-77.

Li Jingjing,Han Chunyang,Xu Zhenbang.Structural Design and Training Planning for Ankle Rehabilitation Mechanisms[J].Journal of Mechanical Transmission,2023,47(03):71-77.
李靖靖,韩春杨,徐振邦.踝关节康复机构的结构设计与训练规划[J].机械传动,2023,47(03):71-77. DOI： 10.16578/j.issn.1004.2539.2023.03.010.

Li Jingjing,Han Chunyang,Xu Zhenbang.Structural Design and Training Planning for Ankle Rehabilitation Mechanisms[J].Journal of Mechanical Transmission,2023,47(03):71-77. DOI： 10.16578/j.issn.1004.2539.2023.03.010.

摘要

为了保证踝关节康复训练的效果和安全性，设计了一种基于3-UPRU/S并联构型的踝关节康复机构及其脚部固定与快放组件，并对其运动性能与训练规划进行了研究。考虑到踝关节生理回转中心与机构转动中心不重合的影响，应用Adams软件建立了康复机构的脚踝虚拟模型，并利用角速度规划的方法对S型与T型角速度曲线进行优化，得到了一种更优的训练规划；通过逆运动学仿真，得到机构各促动器的位移数据，并使用样条拟合确定了各促动器的驱动函数；通过原理样机试验，进行了实际工作角度与训练规划的验证。结果表明，优化后该康复机构1个周期内增加了约

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=41886466&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=41886464&type=

6.85799980

2.70933342

的匀速训练时间，并减少了约

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=41886469&type=

http://html.publish.founderss.cn/rc-pub/api/common/picture?pictureId=41886468&type=

6.85799980

2.70933342

的角速度波动；该训练规划能够提高踝关节康复的效果以及安全性。

Abstract

In order to ensure the effectiveness and safety of ankle rehabilitation training

an ankle rehabilitation mechanism based on the 3-UPRU/S parallel configuration and its foot fixation and quick release components are designed

and its motion performance and training planning are investigated. A virtual model of the rehabilitation mechanism is established using Adams software. Taking into account the influence of the non-coincidence between the physiological center of the rotation of the ankle joint and the center of the rotation of the mechanism

the virtual model of the ankle is introduced and the S-shaped and T-shaped angular velocity curves are optimized using angular velocity planning to obtain a better training plan. The displacement data of each actuator of the mechanism is obtained by inverse kinematic simulation

and the drive function of each actuator is determined using spline fitting. The actual working angle and training plan are verified by means of a principle prototype test. The results show that the optimized mechanism can increase the training time at constant speed by approximately 12% and reduce the angular velocity fluctuations by approximately 47% in one cycle

indicating that the training plan can improve the effectiveness and safety of the ankle rehabilitation.

关键词

踝关节康复机构逆运动学Adams软件训练规划样条拟合

Keywords

Ankle jointRehabilitation mechanismInverse kinematicsAdams softwareTraining planningSpline fitting

references

赵彤彤，章悦，曹港生，等.一种新型7自由度上肢康复外骨骼机器人的结构设计和运动学仿真［J］.机械传动，2022，46（2）：66-72.

ZHAO Tongtong，ZHANG Yue，CAO Gangsheng，et al.Structure design and kinematics simulation of a novel 7-DOF upper limb rehabilitation exoskeleton robot［J］.Journal of Mechanical Transmission，2022，46（2）：66-72.

齐方宇，姜礼杰，王勇，等.下肢康复设备实现等速训练方法的研究［J］.机械设计与制造，2020（6）：265-268.

QI Fangyu，JIANG Lijie，WANG Yong，et al.Study on an equal speed training method for lower limb rehabilitation equipment［J］.Machinery Design & Manufacture，2020（6）：265-268.

叶增林，张良安，陈华，等.2URR-SRR-RUPUR并联式腿部康复机器人机构设计与运动性能分析［J］.机械传动，2021，45（3）：82-89.

YE Zenglin，ZHANG Liang'an，CHEN Hua，et al.Design and motion performance analysis of 2URR-SRR-RUPUR parallel leg rehabilitation robot mechanism［J］.Journal of Mechanical Transmission，2021，45（3）：82-89.

李大顺，李剑锋，王飒，等.并联3-RRS踝关节康复机构及运动分析［J］.机械设计与制造，2015（8）：4-8.

LI Dashun，LI Jianfeng，WANG Sa，et al.Analysis on 3-RRS mechanism for ankle rehabilitation and its kinematics［J］.Machinery Design & Manufacture，2015（8）：4-8.

刘承磊，张建军，牛建业，等.面向踝关节康复的四自由度广义球面并联机构运动学性能［J］.机械工程学报，2021，57（21）：45-54.

LIU Chenglei，ZHANG Jianjun，NIU Jianye，et al.Kinematic performance of 4-DOF generalized spherical parallel mechanism for ankle rehabilitation［J］.Journal of Mechanical Engineering，2021，57（21）：45-54.

边辉，刘艳辉，梁志成，等.并联2-RRR/UPRR踝关节康复机器人机构及其运动学［J］.机器人，2010，32（1）：6-12.

BIAN Hui，LIU Yanhui，LIANG Zhicheng，et al.A novel 2-RRR/UPRR robot mechanism for ankle rehabilitation and its kinematics ［J］.Robot，2010，32（1）：6-12.

GIRONE M，BURDEA G，BOUZIT M，et al.A Stewart platform-based system for ankle telerehabilitation ［J］.Autonomous Robots，2001，10（2）：203-212.

MA R，SLOCUM A，SUNG E，et al.Ankle rehabilitation via compliant mechanisms［J］.Journal of Medical Devices，2010，4（2）：027528.

赵铁石，于海波，戴建生.一种基于3-RSS/S并联机构的踝关节康复机器人［J］.燕山大学学报，2005，29（6）：471-475.

ZHAO Tieshi，YU Haibo，DAI Jiansheng.An ankle rehabilitation device based on 3-RSS/S parallel mechanism［J］.Journal of Yanshan University，2005，29（6）：471-475.

李剑锋，张凯，张雷雨，等.并联踝康复机器人的设计与运动性能评价［J］.机械工程学报，2019，55（9）：29-39.

LI Jianfeng，ZHANG Kai，ZHANG Leiyu，et al.Design and kinematic performance evaluation of parallel ankle rehabilitation robot［J］.Journal of Mechanical Engineering，2019，55（9）：29-39.

李剑锋，李世才，陶春静，等.并联2-UPS/RRR踝关节康复机构及运动性能分析［J］.机器人，2016，38（2）：144-153.

LI Jianfeng，LI Shicai，TAO Chunjing，et al.Parallel 2-UPS/RRR ankle rehabilitation mechanism and kinematic performance analysis［J］.Robot，2016，38（2）：144-153.

王永奉，范顺成，路光达，等.3-（HS）S/S踝关节康复机器人的运动学分析［J］.机械设计，2017，34（4）：39-43.

WANG Yongfeng，FAN Shuncheng，LU Guangda，et al.Kinematics analysis of a 3-（HS）S/S ankle rehabilitation parallel mechanism［J］.Journal of Machine Design，2017，34（4）：39-43.

姚立纲，廖志炜，卢宗兴，等.踝关节章动式康复运动轨迹规划［J］.机械工程学报，2018，54（21）：33-40.

YAO Ligang，LIAO Zhiwei，LU Zongxing，et al.Nutation motion based trajectory planning for a novel hybrid ankle rehabilitation device［J］.Journal of Mechanical Engineering，2018，54（21）：33-40.

YANG S F，SUN T，HUANG T.Type synthesis of parallel mechanisms having 3T1R motion with variable rotational axis［J］.Mechanism and Machine Theory，2016，109：220-230.

LEE Y，CHEN K，REN Y，et al.Robot-guided ankle sensorimotor rehabilitation of patients with multiple sclerosis［J］.Multiple Sclerosis and Related Disorders，2017，11：65-70.

贺磊盈，涂叶凯，叶伟，等.一种可整周回转的新型3T1R并联机构运动学分析［J］.机械工程学报，2018，54（11）：151-160.

HE Leiying，TU Yekai，YE Wei，et al.Kinematics analysis of a novel 3T1R parallel manipulator with full rotational capability［J］.Journal of Mechanical Engineering，2018，54（11）：151-160.

中华人民共和国卫生部医政司.中国康复医学诊疗规范［M］.北京：华夏出版社，1998：210-217，233-242.

MedicalSecretary，Ministry of Health，the People's Republic of China.Chinese standard of care in rehabilitation medicine［M］.Beijing：Huaxia Publishing House，1998：210-217，233-242.

李善华，屈红林.运动医学与运动疗法［J］.中国组织工程研究与临床康复，2007（45）：9194-9197.

LI Shanhua，QU Honglin.Sports medicine and kinesiotherapy［J］.Chinese Journal of Tissue Engineering Research，2007（45）：9194-9197.

中国标准化与信息分类编码研究所.中国成年人人体尺寸：GB/T 10000—1988［S］.北京：中国标准出版社，1988：13-16.

China Institute of Standardization and Information Classification and Coding.Human dimensions of Chinese adults：GB/T 10000—1988［S］.Beijing：Stan⁃dars Press of China，1988：13-16.

姚太顺，孟宪杰.踝关节外科［M］.北京：中国中医药出版社，1998：316-317.

YAO Taishun，MENG Xianjie.Ankle surgery［M］.Beijing：China Press of Traditional Chinese Medicine，1998：316-317.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design and Kinematics Analysis of the R& (2-SPU+PRR) Hybrid Mechanism for Ankle Rehabilitation

3-UPS/S Ankle Joint Rehabilitation Mechanism and Motion Analysis

Research and Manufacturing of Wrist Joint Rehabilitation Robots Based on the 3-UU Parallel Mechanism

Design and Kinematic Performance Analysis of the (2-PUR/UPS) &R Hybrid Cervical Exoskeleton

Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism

Related Author

Wang Zhihao

Li Ruiqin

Fan Wenlong

Wang Chunzhen

Jianzhong Zhang

Guanghao Zhang

Huazeng Hu

Feng Li

Related Institution

School of Mechanical Engineering, North University of China

School of Mechanical and Electronic Engineering， Shandong University of Science and Technology

Department of Mechanical and Electrical Engineering， Shandong University of Science and Technology in Tai’an， Tai’an

College of Mechanical and Vehicle Engineering, Taiyuan University of Technology

College of Mechanical Engineering, North University of China

⁰