• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (21): 33-40.doi: 10.3901/JME.2018.21.033

• 机构学及机器人 • 上一篇    下一篇

踝关节章动式康复运动轨迹规划

姚立纲, 廖志炜, 卢宗兴, 张俊   

  1. 福州大学机械工程及自动化学院 福州 350116
  • 收稿日期:2017-11-19 修回日期:2018-05-21 出版日期:2018-11-05 发布日期:2018-11-05
  • 通讯作者: 张俊(通信作者),男,1981年出生,教授,博士研究生导师。主要从事机械传动、机械系统动力学和机器人机构学的研究。E-mail:zhang_jun@fzu.edu.cn
  • 作者简介:姚立纲,男,1964年出生,教授,博士研究生导师。主要从事机器人机构及机械传动学、康复机器人、现代设计方法、复杂曲面建模及精确制造的研究。E-mail:ylgyao@fzu.edu.cn
  • 基金资助:
    国家自然科学基金(51275092)和福建省科技计划重大(2014H2004)资助项目。

Nutation Motion Based Trajectory Planning for a Novel Hybrid Ankle Rehabilitation Device

YAO Ligang, LIAO Zhiwei, LU Zongxing, ZHANG Jun   

  1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116
  • Received:2017-11-19 Revised:2018-05-21 Online:2018-11-05 Published:2018-11-05

摘要: 作为一种常见的骨骼损伤方式,踝关节损伤的康复过程十分漫长。现有研究中规划的踝关节康复轨迹模式较单一、且容易造成踝关节的二次损伤。为避免踝关节的二次损伤,需要对其康复运动轨迹进行精心规划。有鉴于此,提出一种混联式踝关节康复装置,并提出一种基于章动原理的康复运动轨迹规划方法。结合踝关节康复运动的安全性要求,借助生物力学软件AnyBody分析了不同位姿下相关肌肉的活动度,进而确定了章动式踝关节康复运动轨迹的章动角。在此基础上,通过运动学推导,给出了混联式踝关节康复装置中各推杆的位移。最后,以所提混联式踝关节康复装置为对象搭建系统的运动控制平台,并通过激光跟踪仪对动平台上的运动参考点进行跟踪。理论和实测数据对比表明,所提章动式踝关节康复运动轨迹能实现跖屈/背屈、内翻/外翻的复合运动,并满足康复安全性要求。所设计的混联式踝关节康复装置及章动式康复运动轨迹可为踝关节患者的康复训练提供有效的解决方案。

关键词: 轨迹规划, 踝关节康复, 肌肉活动度, 章动运动

Abstract: As a common athletics injury, the rehabilitation of ankle injury is a long and arduous process. The trajectory planning for the ankle rehabilitation during the rehabilitation process plays an important role to avoid a secondary ankle injuring. For this purpose, a nutation principle based trajectory planning method is proposed for a novel hybrid ankle rehabilitation device composing of a series and a parallel mechanism. The nutation angle is determined by the biomechanical simulation results of the muscle activity in AnyBody software according to the safety requirements for ankle rehabilitation exercise. On this basis, an inverse kinematic analysis is carried out to calculate the displacement of the pushrods. Finally, an experimental prototype of the proposed hybrid rehabilitation device is built and the nutation motion of the platform is measured with a laser tracker. The comparison between the theoretical derived and the experimental tested data confirms that the proposed nutation motion based trajectory planning can fulfill the plantar/dorsal flexion and inversion/eversion movement and meet the safety requirements of ankle rehabilitation exercise. Therefore, the proposed hybrid ankle rehabilitation device and the nutation rehabilitation trajectory can provide an effective solution for ankle injury rehabilitation.

Key words: ankle rehabilitation, muscle activity, nutation motion, trajectory planning

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