Active and Passive Ankle Rehabilitation Strategy Based on Plantar Force Feedback

doi:10.3901/JME.2022.21.050

Abstract

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

CLC Number:

TH112

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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