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

doi:10.3901/JME.2018.21.033

Abstract

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

CLC Number:

TH122
R496

YAO Ligang, LIAO Zhiwei, LU Zongxing, ZHANG Jun. Nutation Motion Based Trajectory Planning for a Novel Hybrid Ankle Rehabilitation Device[J]. Journal of Mechanical Engineering, 2018, 54(21): 33-40.

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