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踝关节康复训练并联机构构型及其运动学分析 被引量：16

The Configuration of the Ankle Rehabilitation Exercises Parallel Mechanism and its Kinematics Analysis
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摘要 在分析踝关节结构及运动方式的基础上,提出了一种3-RSS/S并联机器人方案用于踝关节康复治疗,并对其进行了位置逆解分析,得出了雅可比矩阵,为该机构的进一步分析、研发奠定了理论基础。 Based on the analysis of the structure and motion mode of anklebone, a 3-RSS/S parallel robot was proposed for anklebone rehabilitation exercises in this paper. A converse solution of positions were analyzed ,and get a Jacobian matrix. This algorithm is simple and ease for the robot to implement real time control, and provide the theory support for the structure to be further analyzed and developed.
作者 刘更谦 高金莲 杨四新 何春燕 张小俊
机构地区 河北工业大学机械学院 邢台机械轧辊(集团)有限公司
出处 《机电产品开发与创新》 2005年第5期13-15,共3页 Development & Innovation of Machinery & Electrical Products
关键词 踝关节康复 并联机构 运动学分析 位置逆解 anklebone rehabilitation exercises parallel mechanism kinematics analysis inverse solution of positions
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献9

  • 1杜志江,孙立宁,富历新.医疗机器人发展概况综述[J].机器人,2003,25(2):182-187. 被引量：71
  • 2Girone, M., G. Burdea, M. Bouzit. The 'Rutgers Ankle' Orthopedic Rehabilitation Interface [A]. Proceedings of the ASME Haptics Symposium[C]. 1999,DSC,Vol.67, pp.305～312.
  • 3Girone M., Burdea, G., M. Bouzit, V. Popescu, and J. Deutsch.A Stewart Platform-Based System for Ankle Telerehabilitation[J].Autonomous Robots, 2001,10(3): 203～212.
  • 4Deutsch, J., J. Latonio, G. Burdea, and R. Boian. Rehabilitation of Musculoskeletal Injuries Using the Rutgers Ankle Haptic Interface: Three Case Reports [A]. Eurohaptics Conference [C],Birmingham UK, 2001,July 1～4.
  • 5Deutsch, J., J. Latonio, G. Burdea and R. Boian. PostStroke Rehabilitation with the Rutgers Ankle System - A case Study [A]. Presence, MIT Press[C]. 2001,10(4): 420～435.
  • 6Girone, M., G. Burdea, M. Bouzit. The 'Rutgers Ankle' Orthopedic Rehabilitation Interface [A]. Proceedings of the ASME Haptics Symposium[C]. 1999,DSC-Vol.67, pp. 305～312.
  • 7Girone, M. J., G. C. Burdea, M. Bouzit, V. Popescu, and J. E.Deutsch. Othopedic Rehabilitation Using the "Rutgers Ankle"Interface[A]. Proc. of Medicine Meets Virtual Reality 2000[C].IOS Press, 2000,January pp. 89～95.
  • 8Jian S. Dai, Tieshi Zhao ,Christopher. Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device[J]. Autonomous Robots, 2004,(16): 207～218.
  • 9徐文军,孙立宁,安辉,蔡鹤皋.旋转输入型并联机器人位置逆解分析的轨迹圆法[J].机器人,1998,20(5):368-372. 被引量：2

二级参考文献20

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机电产品开发与创新
2005年 第5期

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