踝关节运动辅助矫正机构的结构设计

The Structural Design of the Ankle Motion Auxiliary Correctional Mechanism

文章以剖析人体下肢解剖学理论为依据,设计了一种基于空间并联机构原理的新型下肢踝关节运动矫正机构.按照正常人体下肢基本尺寸范围,对下肢运动矫正机构的结构进行数学建模并做了运动学仿真分析,验证了该并联机构可以有效辅助运动障碍者恢复健康.该机构结构简单、工作空间较大、刚度大,可以适用不同群体.

Based on the principle of spatial parallel mechanism and human lower extremity anatomy ,this paper designs a new leg ankle rehabilitation facility in accordance with the normal basic size range of human＇s lower limb .Then the mathematical model of it is established and the kinematics simulation analysis is carried out to validate that this parallel mechanism ,which is simple but with larger workspace and higher stiffness ,could effectively improve dyskinesia and is suitable for various groups .