基于足底力反馈的踝关节主被动康复策略

doi:10.3901/JME.2022.21.050

机械工程学报 ›› 2022, Vol. 58 ›› Issue (21): 50-59.doi: 10.3901/JME.2022.21.050

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基于足底力反馈的踝关节主被动康复策略

卢宗兴, 苏永生, 东辉, 李胤增, 赵栋哲

福州大学机械工程及自动化学院福州 350116

收稿日期:2021-11-18 修回日期:2022-07-13 出版日期:2022-11-05 发布日期:2022-12-23
通讯作者: 东辉(通信作者),女,1985年出生,博士,教授,博士研究生导师。主要研究方向为医疗康复机器人及机器人机构学等。E-mail:hdong@fzu.edu.cn
作者简介:卢宗兴,男,1988年出生,博士,副教授,硕士研究生导师。主要研究方向为脚踝康复机器人系统开发与康复机理研究、多模态行为感知及肌肉评估机制、轮足机器人技术。E-mail:luzongxing@fzu.edu.cn;苏永生,男,1997年出生,硕士研究生。主要研究方向为康复机器人主被动控制策略。E-mail:sys_fzu@sina.com
基金资助:
国家自然科学基金（61801122）资助项目。

Active and Passive Ankle Rehabilitation Strategy Based on Plantar Force Feedback

LU Zongxing, SU Yongsheng, DONG Hui, LI Yinzeng, ZHAO Dongzhe

School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116

Received:2021-11-18 Revised:2022-07-13 Online:2022-11-05 Published:2022-12-23

摘要/Abstract

摘要： 踝关节机能损伤人群数量增长与康复医师紧缺是现阶段面临的一个重要社会问题，为此，基于一款2-SPU/RR踝关节康复机器人提出一种主被动结合的辅助康复策略。首先建立虚拟样机模型和对应的结构简图，进行运动学分析，求解了机器人的工作空间，结果表明该机器人能够满足踝关节跖屈-背屈和内翻-外翻复合运动需求。然后针对目前康复机器人主要研究内容为被动康复问题，未能根据患者脚踝实际损伤情况进行康复，提出一种踝关节机器人主被动康复结合的方法。先预设康复运动轨迹，基于足底压力数据和力感知算法获得患者的运动意图，通过软硬件控制系统实现机器人主动跟随，同时将运动轨迹进行记录和数据化。最后对描迹轨迹进行优化，根据优化轨迹使用5段S型加减速控制方式进行定制化被动康复。主被动康复系统实现了机器人跟随控制与患者主动行为感知的结合，有助医师对踝关节机能损伤患者的诊断与治疗。

关键词: 踝关节, 康复机器人, 运动学分析, 轨迹跟踪, 主被动康复

Abstract: The increase in the number of people with ankle injuries and the shortage of rehabilitation physicians is an important social problem at this stage. In this regard, a combined active-passive assisted rehabilitation strategy is proposed based on a 2-SPU/RR ankle rehabilitation robot. Firstly, the virtual prototype model and the corresponding structural sketch are established, and the kinematic analysis is carried out to solve the workspace of the robot. The results show that the robot is capable of meeting the demands of plantarflexion-dorsiflexion and inversion-eversion compound movements of the ankle joint. Then, aiming at the problem that the current research content of rehabilitation robot is only passive rehabilitation, failing to rehabilitate patients according to their actual ankle injuries, a method of combining active and passive rehabilitation of the ankle robot is proposed. First preset the rehabilitation movement trajectory, the patient's movement intention is obtained based on the plantar pressure data and force sensing algorithm. Robot follows actively through software and hardware control system, the movement trajectory is recorded and datalized synchronously. Finally optimizes the trajectory tracing, according to the optimal trajectory using a 5-stage S-type acceleration and deceleration control method for customized passive recovery. The active-passive rehabilitation system combines robotic following control with active patient behavior perception, which helps physicians diagnose and treat patients with functional ankle injuries.

Key words: ankle, rehabilitation robot, kinematic analysis, trajectory tracking, active passive rehabilitation

中图分类号:

TH112

卢宗兴, 苏永生, 东辉, 李胤增, 赵栋哲. 基于足底力反馈的踝关节主被动康复策略[J]. 机械工程学报, 2022, 58(21): 50-59.

LU Zongxing, SU Yongsheng, DONG Hui, LI Yinzeng, ZHAO Dongzhe. Active and Passive Ankle Rehabilitation Strategy Based on Plantar Force Feedback[J]. Journal of Mechanical Engineering, 2022, 58(21): 50-59.

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基于足底力反馈的踝关节主被动康复策略

Active and Passive Ankle Rehabilitation Strategy Based on Plantar Force Feedback

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