脚踝康复训练机构研究综述

Review of Ankle Rehabilitation Training Mechanism

分析了国内外脚踝康复训练装置的研究现状,讨论了脚踝康复训练装置在机械结构、控制算法、工作空间和运动性能评价等方面现有的研究方法。综述了并联机构、自由度和驱动方式的大致分类,简述了各机械结构的优缺点,并给出了相应结论。控制算法主要包括自适应导纳控制方案、位置和接纳控制方案及轨迹规划,工作空间主要包括位置空间和姿态空间,运动性能评价主要包括操作性、灵巧性和安全性。最后,列举了脚踝康复训练装置研究中存在的问题,同时提出了解决问题的相关方法。

This paper analyzes the present research of ankle rehabilitation training devices at home and abroad,and discusses the existing research methods of ankle rehabilitation training devices in mechanical structure,control algorithm,working space and sports performance evaluation.The general classification of parallel mechanisms,degrees of freedom and driving modes are summarized.The advantages and disadvantages of each mechanical structure are briefly described and the corresponding conclusions are given.The control algorithm mainly includes adaptive admittance control scheme,position and admission control scheme and trajectory planning,and the workspace mainly includes position space and orientation workspace.The evaluation of motion performance mainly includes maneuverability,dexterity and safety.Finally,the problems existing in the research of ankle rehabilitation training devices are listed,and the relevant methods to solve the problems are put forward.