柔索牵引踝关节康复机器人运动轨迹规划

Motion Trajectory Planning of a Flexible Wire Rope Traction Ankle Rehabilitation Robot

针对当前踝关节康复机器人构型以刚性驱动居多,结构复杂,其系统刚度无法根据患者的恢复状态进行调整,提出了一种位置可重构的柔索牵引踝关节康复机器人。建立了柔索牵引踝关节机器人运动学模型,根据踝关节在矢状面、冠状面以及横断面上的极限转角,构建了踝关节在内翻/外翻、内收/外展、背屈/跖屈运动时的转角变化函数;通过分析机器人三种运动工况下的柔索的长度、速度、加速度变化规律完成了柔索牵引踝关节康复机器人的运动轨迹规划。

Aiming at the current ankle rehabilitation robot configuration,which is mainly rigid drive and complex,the system stiffness cannot be adjusted according to the patient’s recovery state,a position reconfigurable flexible wire rope traction ankle rehabilitation robot was proposed.The kinematics model of the robot was established.According to the limit Angle of the ankle in sagittal plane,coronal plane and cross section,the angle change function of the ankle in valgus/valgus,adduction/abduction,dorsiflexion/plantar flexion was constructed.The trajectory planning of the ankle rehabilitation robot with flexible wire rope traction was completed by analyzing the change rules of the length,velocity and acceleration of the flexible wire rope under the three motion conditions of the robot.